Electronic speed controller for BLDC and PMSM three phase ......Electronic speed controller for BLDC...
Transcript of Electronic speed controller for BLDC and PMSM three phase ......Electronic speed controller for BLDC...
IntroductionThe STEVAL-ESC001V1 reference design for electronic speed controllers (ESC) for drones fits entry-level commercial dronedesigns and drives any three-phase brushless (or PMSM) motor running off 6S LiPo battery packs, or any equivalent DC supply,up to 30 A peak current.
The STEVAL-ESC001V1 lets you spin a motor and its propeller in minutes thanks to a complete pre-configured firmwarepackage (STSW-ESC001V1), implementing a sensorless Field Oriented Controlled algorithm with 3-shunt current reading,speed control and full active braking.
The reference design board can accept commands from a flight control unit through PWM signals; other communication businterfaces like UART, CAN, and I²C are also available. The reference embeds a battery eliminator circuit working at 5 V, an NTCsensor for temperature measurement and circuitry for overcurrent / overvoltage protection (OCP/OVP). The compact form factorand current capability render this reference design suitable for electronic speed controllers on small and light unmanned aerialvehicles like professional drones.
The STSW-ESC001V1 firmware/software package plus STM32 PMSM FOC software development kit - MC library let you refineyour electronic speed controller design by acting on the field oriented control parameters embedded in the STM32 andexperiment with the ST motor profiler to rapidly retrieve the motor parameters. The ST sensorless FOC algorithm ensureslonger flight times and optimal dynamic performance.
The STEVAL-ESC001V1 has been designed around the highly efficient, low Rdson STripFET F7 power MOSFETs, the high-performance STM32F303CBT7 microcontroller with ARM® Cortex®-M4 core and the L6398 drivers.
Figure 1. STEVAL-ESC001V1 evaluation board
Electronic speed controller for BLDC and PMSM three phase brushless motor
UM2197
User manual
UM2197 - Rev 2 - November 2018For further information contact your local STMicroelectronics sales office.
www.st.com
1 Main features
• Complete reference design for electronic speed controller implementing a sensorless FOC algorithm• Designed for drones with 6S pack of LiPo batteries or systems with an equivalent suitable DC supply• ESC ready for communication with any standard flight control unit (FCU): PWM or CAN• Temperature overheating protection• Nominal operating voltage range: 3S-6S Li-Po battery DC voltage level (11.1 to 22.2 V)• Maximum RMS output current: 20 Arms• Output peak current: 30 A• Battery eliminator circuit (BEC): 5 V/0.5 A for external receiver or FCU• Complete pre-configured firmware package available (STSW-ESC001V1)• Supported by ST motor control software SDK and ST motor profiler• Compact PCB design: 29.1 x 58 mm• Further target applications:
– motor driving for RC vehicles: electric cars, helicopter, trucks, etc.– any three-phase BLDC or PMSM motor application
• RoHS and WEEE compliant
1.1 Target applicationMotor driving for remote control vehicles, UAV drones, electrical cars and boats, etc.
Figure 2. STEVAL-ESC001V1 target applications
UM2197Main features
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2 Description
The STEVAL-ESC001V1 electronic speed controller (ESC) evaluation board drives a single three phasebrushless motor with very high performance in sensorless mode (without position sensor).It is designed to provide fast and efficient propulsion for remote control applications like electric cars, boats anddrones and is capable of low and very high speed regulation and strong dynamic response under different loadconditions.An external signal via a communication bus between the board and a generic central unit sets the speedregulation reference and another signal reports the status of the system, including faults, which the central unitcan use to trigger corrective events..The same 6Step (or trapezoidal) control algorithm (often with no shunt resistors) drives the many different ESCsoffering various motor current, size and input voltages for remote control applications.A more sophisticated control algorithm is used in the STEVAL-ESC001V1, based on field oriented control (FOC);it features:• better torque control• motor current regulation in case of fast load change• vibration reduction• active braking function• better efficiency• noise reduction• a real-time monitor of the rotor speed• energy recovery during the deceleration
The typical system architecture pictured below shows individual ESC boards connected to single brushlessmotors in a quadcopter system. An external Li-Po battery powers the four boards and a wired bus carriescommunication between each board and an external unit such as a flight control board.
UM2197Description
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Figure 3. System structure overview
Figure 4. Typical quadcopter architecture
UM2197Description
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The on-board I²C, UART, PWM and CAN communication protocols provide maximum flexibility and a DC-DCconverter with 5 V output connector (BEC) can supply an external control unit or sensor board.
2.1 STEVAL-ESC001V1 hardware overviewThe STEVAL-ESC001V1 power and control platform is based on the ST componentry illustrated below.
Figure 5. STEVAL-ESC001V1 block diagram
2.1.1 STEVAL-ESC001V1 top side componentsThe inverter section is formed by the L6398 gate driver and the STL160N4F7 and the Power MOSFETs.
Figure 6. Top side features
L6398 high voltage high and low-side driverThe L6398 is a high voltage device manufactured with the BCD™ “offline” technology. It is a single-chip halfbridge gate driver for the N-channel power MOSFET or IGBT.The high-side (floating) section is designed to stand a voltage rail up to 600 V. The logic inputs are CMOS/TTLcompatible down to 3.3 V for the easy interfacing microcontroller/DSP.Key features:• High voltage rail up to 600 V
UM2197STEVAL-ESC001V1 hardware overview
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• dV/dt immunity ±50 V/ns in full temperature range• Driver current capability:
– 290 mA source– 430 mA sink
• Switching times 75/35 ns rise/fall with 1 nF load• 3.3 V, 5 V TTL/CMOS input comparators with hysteresis• Integrated bootstrap diode• Fixed 320 ns deadtime• Interlocking function• Compact and simplified layout• Bill of material reduction• Flexible, easy and fast design
STL160N4F7 160 A STripFET™ F7 Power MOSFETsThis N-channel Power MOSFET uses STripFET™ F7 technology with an enhanced trench gate structure thatresults in very low on-state resistance, while also reducing internal capacitance and gate charge for faster andmore efficient switching.L7986, LD1117S50 and LD39050PU33RThese devices provide the appropriate voltage for gate driving, BEC output and MCU power.
2.1.2 STEVAL-ESC001V1 bottom side componentsBottom side componentry is mainly for the digital section; featuring an STM32F303 microcontroller for three-shuntsensorless FOC control in an LQFP 48-pin package.STM32F303xB 32-bit ARM Cortex-M4 MCU with 128 Kbytes Flash and 72 MHz CPUThe family of microcontrollers is based on the high-performance ARM®Cortex®-M4 32-bit RISC core plus FPUoperating at 72 MHz max and embedded memory protection unit (MPU).
Figure 7. Bottom side features
UM2197STEVAL-ESC001V1 hardware overview
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2.1.3 Board dimensions (29.1 x 58 mm)
Figure 8. STEVAL-ESC001V1 board dimensions (not including capacitors)
2.2 Communication, programming and command interfacesThe STEVAL-ESC001V1 features these communication interfaces:• CAN port (J1): comes with an on-board transceiver; the J1 connector includes 3V3 and GND pins.• UART/I²C port (J2): normally used for serial communication between the ESC board and a PC; ST MC
Workbench can be connected with the STM32, adding an external circuit (requires USB/RS232converter-3v3 level)
Figure 9. UART TX/RX (3v3 level)
• PWM signal input (J3): connects with an external board (e.g., flight control unit), to receive commands; thesignal level (at 3v3) sets the motor speed according to the Ton duration (i.e., 1060 µs for min. speed and1860 µs for max. speed). Other pins are for GND and a +5Vdc power line to supply an external board
• SWD debug port (J4): provides the SWD connection between the STM32 and ST-LINK programmer; otherpins like 3V3 and GND are available.
2.3 STM32 pinout for motor control
Table 1. Main STM32 pinout for motor control
Pin Default Signal Solder Bridge
1 VBAT 3V3
2 PC13/TAMP/RTC TP4
3 PC14 N.C.
UM2197Communication, programming and command interfaces
UM2197 - Rev 2 page 7/26
Pin Default Signal Solder Bridge
4 PC15 N.C.
5 PF0/OSC-IN OSC 8Mhz
6 PF1/OSC-OUT OSC 8Mhz R4
7 NRST RESET
8 VSSA/VREF- GND
9 VDDA/VREF+ 3V3
10 PA0-WKUP Curr_fdbk1
11 PA1 Curr_fdbk2
12 PA2 Curr_fdbk3
13 PA3 Temperature feedback
14 PA4 VREF, DAC1, TP8 R6 N.M.
15 PA5 DAC2, TP9
16 PA6 N.C.
17 PA7 Vshunt_1_filtered
18 PB0 Vshunt_2_filtered
19 PB1 TIM1_CH3N
20 PB2 STATUS
21 PB10 N.C.
22 PB11 Vshunt_3_filtered
23 VSS1 GND
24 VDD1 3V3
25 PB12 PHASE_1
26 PB13 VBUS R5
27 PB14 PHASE_2
28 PB15 PHASE_3
29 PA8 TIM1_CH1
30 PA9 TIM1_CH2 R51
31 PA10 TIM1_CH3
32 PA11 TIM1_CH1N
33 PA12 TIM1_CH2N
34 PA13 SWDIO
35 VSS2 GND
36 VDD2 3V3
37 PA14 SWCLK
38 PA15 INPUT
39 PB3 N.C.
40 PB4 TP3
41 PB5 N.C.
42 PB6 USART1_TX/I2C1_SCL
43 PB7 USART1_RX/I2C1_SDA
UM2197STM32 pinout for motor control
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Pin Default Signal Solder Bridge
44 BOOT0 BOOT0 R3
45 PB8 CAN_RX
46 PB9 CAN_TX
47 VSS
48 VDD
Table 2. Input/output terminals
Screw Terminal Function
J5/J6 Li-Po battery power input (3S-6S)
J7 3-PH Motor connector
UM2197STM32 pinout for motor control
UM2197 - Rev 2 page 9/26
3 Initializing and using the STEVAL-ESC001V1 ESC board
Step 1. Connect the ST-LINK/V2 programmer to the J4 connector on the board.
Table 3. Relationship between the STEVAL board SWD pinout and SWD on ST-Link/V2programmer
Pin no. in STLINK ST-LINK/V2connector ST-LINK/V2 function Target connection
(SWD)Pin no. in STEVAL-
ESC001V1 (J4 connector)
1 VAPP Target VCC MCU VDD 1
2 VAPP Target VCC MCU VDD 1
6 GND 4
7 SW IO SWDIO 3
9 SW CLK SWCLK 2
Figure 10. STEVAL-ESC001V1 connection for MCU programming
Step 2. Set the SWD interface in the IDE tool
UM2197Initializing and using the STEVAL-ESC001V1 ESC board
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Figure 11. Sample SWD configuration on IAR tool
Step 3. Solder the three motor wires U,V,W at the motor connector with no particular color sequence.As shown in Figure 12. STEVAL-ESC001V1 input/output connection, the right side is for the motorconnection with three pads provided for soldering.
Step 4. Solder the PWM input at J3 connector.The INPUT pin level must not exceed 3V3.
Step 5. Connect the STEVAL-ESC001V1 with a Li-Po battery (or DC power supply: min 3S – max 6S) with theright polarity and turn ON.The input connector has two large pads for soldering: the top layer for GND and bottom for Vdc+. Atransil device prevents damage in case of reverse polarity.
UM2197Initializing and using the STEVAL-ESC001V1 ESC board
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Figure 12. STEVAL-ESC001V1 input/output connection
Step 6. Verify if the green led is turned on.Step 7. Open ST MC
Figure 13. ST MC Workbench
Step 8. Fill in the motor parameters
UM2197Initializing and using the STEVAL-ESC001V1 ESC board
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Figure 14. ST MC Workbench – electrical motor parameters
Step 9. Fill in the startup parameters
UM2197Initializing and using the STEVAL-ESC001V1 ESC board
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Figure 15. ST MC Workbench – startup parameters
Step 10. Open the correct workspace in your IAR IDE tool (STM32F30x_Workspace)Step 11. Select the STM32303C-EVAL_SINGLEDRIVE project configuration (blue arrow), compile the source
code and upload the binary to the MCU (red arrow)
Figure 16. IAR tool select, compile and upload
Step 12. Generate a PWM signal at 490 Hz and duty cycle between 1060 µs and 1860 µsThe ESC is not armed (no driving signals generated) if the duty cycle is lower than 1060 µs.
UM2197Initializing and using the STEVAL-ESC001V1 ESC board
UM2197 - Rev 2 page 14/26
If the motor is already started, a blank time of 1500 ms on the PWM signal switches the system off(ESC turned OFF).
Figure 17. PWM input signal for motor speed regulation
Step 13. The motor starts to rotate between the minimum and maximum speed.
UM2197Initializing and using the STEVAL-ESC001V1 ESC board
UM2197 - Rev 2 page 15/26
4 Schematic diagrams
Figure 18. STEVAL-ESC001V1 circuit schematic (1 of 4)
CAN_RX
CAN_TX
+3.3V
+3.3V
+3.3V
+3v3
V-
J1CAN
1234
R2120
C1100nF
U1
SN65HVD230
D1
GND2
VCC3
R4
VREF5CANL6CANH7RS8
R10
TP1CAN_TX
1
TP2CAN_RX
1
Figure 19. STEVAL-ESC001V1 circuit schematic (2 of 4)
VDD
124
R50
PB6
42
1
USART1_RX/I2C1_SDA
R8510
C710nF
C13100nF
VDDA/VREF+9
PA9-VH
SWCLK
PA829
BOO
T044
R60N.M
PB2
20
1
R4220
3
PA1233
TIM1_CH1PF0/OSC-IN
5
STATUS
PA0-WKUP10
VDD
48
PB1
19
J3PWMINPUT
4
PA10-WH
PHASE_1
PA7
17
PB9
46
SWDIO
VSS
47
+3.3V
PA1334
C5100nF
3
VREF
PHASE_3
C8
100nF
J2UART
PB1-
WL
1
+3.3V
SWDIO
PA10
CAN_RX
1VSS1
23
PA3
13
D1RED
C91µF
Vshu
nt_3
_filt
ered
+3.3V
2
TP9
TP7PhW
VSSA/VREF-8
DAC
_OU
T2
Curr_fdbk3
DAC
_OU
T
PA12-VL
TIM1_CH2
PA5
15
PA8-UH
+3.3V
R310k
PA1-PhV
USART1_TX/I2C1_SCL
INPUT
TP5PhU
PB5
41
31
Vshu
nt_2
_filt
ered
TP8
VSS235
+5V
TIM1_CH1N
C2100nF
1
+3.3V
PC154
PA6
16
1
PB1528
1
J4SWD
PA111
TP4
PA4
14
PC143
+3.3V
TP6PhV
1
Curr_fdbk1PB13
26
STATUS
VDD236
PB1225
X18MHz
TP3
GPIO1
PA212
1
TIM1_CH2N
R7510
PA930
PA11-UL
GND
3
+3v3
PB3
39
PB11
22
1
INPUT
PA15
38
+3.3V
VBUS
U2
STM32F303CBT7
V-
TIM
1_C
H3N
PHASE_2
C41nF
C12100nF
2
C111nF
PB1427
USART1_TX/I2C1_SCL
PB7
43
+3.3VPA0-PhU
SWCLK
PB13-BUSV
PA14
37
PPM from FC unit
TIM1_CH3PA11
32VBAT
1
D2GREEN
PC13/TAMP/RTC2
PF1/OSC-OUT6
4
CAN_TX
PB4
40PB
018
PA2-PhW
USART1_RX/I2C1_SDA
PB8
45
GND
Vshu
nt_1
_filt
ered
Curr_fdbk2
Temperature feedback
NRST7
C10100nF
C31nF
PB10
21
2
C64.7µF
UM2197Schematic diagrams
UM2197 - Rev 2 page 16/26
Figure 20. STEVAL-ESC001V1 circuit schematic (3 of 4)For internal comparator
OCP circuit
Vshunt_3_GNDVshunt_2_GNDVshunt_1_GND
External op-amp
0.5 V
3V3
3V3
3V3
3V33V3 3V3
3V3
3V3
Vshunt_1 Vshunt_2_filteredVshunt_2 Vshunt_3_filteredVshunt_3Vshunt_1_filteredVREF
V-
Vshunt_1
Curr_fdbk1 Curr_fdbk2
Vshunt_2
Curr_fdbk3
Vshunt_3
+3v3
C18
100nF
C14100nF
R213.4k 1% R22
3.4k 1%
-
+U5TSV991ILT3
2
14
5
C26N.M. 100pF
C19
100nF
C1615nF 6.3V
R25 13k 1%
R20787
R19787
R12680
R11680
R17787
R148060 1%
R168060 1%
R158060 1%
R10680
R183.4k 1%
R2413k 1%
R135.9K
C25N.M. 100pF
-
+U3TSV991ILT3
2
14
5
C22
680pF 10V
C21
680pF 10VC23
100nF
-
+
U4TSV991ILT
3
2
14
5
C1715nF 6.3V
R23 13k 1%
C20
680pF 10V
C24N.M. 100pF
C1515nF 6.3V
R933K
Figure 21. STEVAL-ESC001V1 circuit schematic (4 of 4)
VBUS
POWER SECTION
SHUNT RESISTOR
AUX POWER SUPPLY
BEC 5V, 0.5A
PHASE SENSING CIRCUIT
small signal
LPS4018-333MR Coilcraft33uH/0.5A38Vmax
1MHz
0.5A
DNG_3_tnuhsVDNG_2_tnuhsVVshunt_1_GND
VIN+
VBUS
Vshunt_1 Vshunt_2 Vshunt_3
+5V
VIN+
TIM1_CH2TIM1_CH2N
TIM1_CH3TIM1_CH3N
TIM1_CH1TIM1_CH1N
+10V
+10V
+10V
Vshunt_2
V+
+5V
Vshunt_1
Vshunt_3
PHASE_2
PHASE_3
PHASE_1
V-
+10V
+3v3
V+
+10V
+3v3
V-
Temperature feedback
+3v3
C49470nF X7R
D9
BAT30KFILM
R660.010 3W
R37 100
D11
STPS0560Z
1 2
R564.02k 1%
C50 1uF X7R
U9 LD1117S50TR
Vout2
GND
1
Vin3
C3627pF
D4
STPS0560Z
1 2
J6
CON1
1
R361
R31300 1%
C29
10uF, 50V
+
C35330uF,35V
C47100pF
R2762
R59 100
C4510uF
TP14TP CH3
1
Q1STL160N4F7
R461
R33 100
TP13TP CH2N
1
R670.010 3W
R35 56
C53100pF
R5233k 1%
TP11TP CH1N
1
U7
L6398DTR
LIN1
HIN2
VCC3
GND4
LVG5OUT6HVG7BOOT8
R654.7k
Q2
C40470nF X7R
R581
R2934.8k 1%
R62
169K 1%
C273.9nF
C374.7nF
R55 56
C461uF
R3410k
C48100pF
TP12TP CH2
1
Q6
R30 56
C56100nF
C42 1uF X7R
L1 33uH
C38100pF
C4110nF
R3810k
J7
Motor
123
R45 100
R264.7k 1%
R50 100
R68
18K 1%
C51
10nF
C44100nF
C34
100nF 100V
R6110k
D6
BAT30KFILM
D7
BAT30KFILM
C58
10nF
R39
0
C31 1uF X7R
Q4
C39100pF
R5333k 1%
R574.02k 1%
D13
BAT30KFILMC57100nF
TP10TP CH1
1
R44 56
Q5
C33
100nF 100V
R49 56
R5433k 1%
R28
0 D5SMBJ26A-TR
R42 100
R63
NTC 10K
21
R4710k
U11
L6398DTR
LIN1
HIN2
VCC3
GND4
LVG5OUT6HVG7BOOT8
+
C32330uF,35V
C55100nF
R410
C431uF
D10
BAT30KFILM
C28220nF
D14BAT30KFILM
R5110k
R40 56
D12
BAT30KFILM
U8LD39050PU33R
PG3 EN1 VIN6
NC5
VOUT4
GND1
2
GND
7
Q3
D8
STPS0560Z
1 2
R48
0
R640.010 3W
C54470nF X7R
C52100pF
C604.7nF 10V
U6L7986TR
OUT22
Fsw7
GND8
FB6
EN4
COMP5
SYNC3
VCC99
EP11
VCC1010
OUT11
R604.02k 1%
R328.2k
D3STPS1L40M
12
J5
CON1
1
U10
L6398DTR
LIN1
HIN2
VCC3
GND4
LVG5OUT6HVG7BOOT8
TP15TP CH3N
1
C3022uF 25V
C5910nF 10V
R4310k
OUT1
VBUS_SENS
OUT1
OUT3
OUT2
OUT3
OUT2
STL160N4F7
STL160N4F7
STL160N4F7
STL160N4F7
STL160N4F7
UM2197Schematic diagrams
UM2197 - Rev 2 page 17/26
5 Bill of materials
Table 4. STEVAL-ESC001V1 bill of materials
Item Q.ty Ref. Part / Value Description Manufacturer Order code
1 15
C1, C2, C5, C8, C10
C12, C13, C14, C18
C19, C23, C44, C55
C56, C57
100 nF 25 V±10% X7R Ceramic capacitor any
2 3 C3, C4, C11 1 nF 50 V±10% X7R Ceramic capacitor any
3 1 C6 4.7 µF 10 V±10% X5R Ceramic capacitor Murata GRM188R61A475KE15D
4 2 C7, C59 10 nF 50 V±10% X7R Ceramic capacitor any
5 3 C9, C43, C46 1 µF 16 V±10% X7R Ceramic capacitor TDK C1608X7R1C105K080AC
6 3 C15, C16, C17 15 nF 10 V±10% X7R Ceramic capacitor any
7 3 C20, C21, C22 680 pF 10 V±5% C0G Ceramic capacitor any
8 3 C24, C25, C26 100 pF ±0% Capacitors (notmounted)
9 1 C27 3.9 nF 50 V±10% X7R Ceramic capacitor any
10 1 C28 220 nF 50 V±10% X7R Ceramic capacitor any
11 1 C29 10 µF 50 V±10% X5R Ceramic capacitor any
12 1 C30 22 µF 25 V±10% X5R Ceramic capacitor any
13 3 C31, C42, C50 1 µF X7R 50 V±10% Ceramic capacitor any
14 2 C32, C35 330 µF,35 V±20% Electrolytic capacitor Rubycon 35ZLH330MEFC10X12.5
15 2 C33, C34 100 nF 100 V±10% X7R Ceramic capacitor any
16 1 C36 27 pF 50 V±5% C0G Ceramic capacitor any
17 2 C37, C60 4.7 nF 16 V±10% X7R Ceramic capacitor any
18 6C38, C39, C47
C48, C52, C53100 pF 16 V±10% X7R Ceramic capacitor any
19 3 C40, C49, C54 470 nF 25 V±10% X7R Ceramic capacitor any
20 3 C41, C51, C58 10 nF 100 V±10% X7R Ceramic capacitor any
21 1 C45 10 µF 25 V±10% X7R Ceramic capacitor Murata GRM21BR61E106KA73L
UM2197Bill of materials
UM2197 - Rev 2 page 18/26
Item Q.ty Ref. Part / Value Description Manufacturer Order code
22 1 D1 Red LED Lite-on LTST-C193KRKT-5A
23 1 D2 Red LED Lite-on LTST-C193KGKT-5A
24 1 D3 40 V 1 A Low drop powerSchottky diode ST STPS1L40M
25 3 D4, D8, D11 60V/0.5A Power Schottkydiode ST STPS0560Z
26 1 D5 Transil ST SMBJ26A-TR
27 7D6, D7, D9, D10
D12, D13, D1430V, 0.3A Schottky diode ST BAT30KFILM
28 2 J1, J2CAN, UART: 4 WAYSSTRIP LINE - MALE1.27mm
any
29 1 J3 PWM INPUT: 3 waywires welding
30 1 J4 SWD: 4-way strip line- male 2.54mm any
31 2 J5, J6CON1 - Input powerconnector: 1-waywire welding
32 1 J7 Motor Connetor: 3-way wire welding
33 1 L1 33 µH 0.5 A Power inductor Coilcraft LPS4018-333MRB
34 6Q1, Q2, Q3
Q4, Q5, Q6
30 V, 160 APower MOSFETs ST
STL160NS3LLH7
40 V, 160 A STL160N4F7
35 6R1, R5, R28
R39, R41, R480 62.5 mW
±5% SMD resistor any
36 1 R2 120 62.5 mW±5% SMD resistor any
37 1 R3 10 k 62.5 mW±5% SMD resistor any
38 1 R4 220 62.5 mW±5% SMD resistor any
39 1 R6 62.5 mW ±5% SMD resistor any
40 2 R7, R8 510 62.5 mW±5% SMD resistor any
41 1 R9 33 K 62.5 mW±5% SMD resistor any
42 3 R10, R11, R12 680 62.5 mW±5% SMD resistor any
43 1 R13 5.9 K 62.5 mW±5% SMD resistor any
44 3 R14, R15, R16 8.06 k 62.5mW ±1% SMD resistor Vishay CRCW04028K06FKED
45 3 R17, R19, R20 787 62.5 mW±1% SMD resistor Panasonic ERJ2RKF7870X
46 3 R18, R21, R22 3.4 k 62.5 mW±1% SMD resistor Panasonic ERJ2RKF3401X
UM2197Bill of materials
UM2197 - Rev 2 page 19/26
Item Q.ty Ref. Part / Value Description Manufacturer Order code
47 2 R23, R24, R25 13 k 62.5 mW±1% SMD resistor any
48 1 R26 4.7 k 62.5 mW±1% SMD resistor any
49 1 R65 4.7 k 62.5 mW±5% SMD resistor any
50 1 R27 62 62.5 mW±1% SMD resistor any
51 1 R29 34.8 k 62.5mW ±1% SMD resistor any
52 6R30, R35, R40
R44, R49, R5556 0.1 W ±5% SMD resistor any
53 1 R31 300 62.5 mW±1% SMD resistor any
54 1 R32 8.2 k 62.5 mW±1% SMD resistor any
55 6R33, R37, R42
R45, R50, R59100 0.1 W
±5% SMD resistor any
56 6R34, R38, R43
R47, R51, R6110 k 0.1 W
±5% SMD resistor any
57 3 R36, R46, R58 1 0.125 W±5% SMD resistor any
58 3 R52, R53, R54 33 k 0.1 W±1% SMD resistor any
59 3 R56, R57, R60 4.02 k 62.5mW ±1% SMD resistor any
60 1 R62 169 K 62.5mW ±1% SMD resistor any
61 1 R63 NTC 10 K±1% NTC Thermistor TDK NTCG103JF103F
62 3 R64, R66, R67 0.01 3 W ±1% 10 mOhm shuntresistor
Bourns CRA2512-FZ-R010ELF
KOA Speer TLR3APDTE10L0F50
63 1 R68 18 K 62.5 mW±1% SMD resistor any
64 1
TP1, TP2, TP3, TP4
TP5, TP6, TP7, TP8
TP9, TP10, TP11
TP12, TP13, TP14
TP15
SMD PAD 1mm ±0% Test point any
65 1 U1 CAN transceiver TI SN65HVD230D
66 1 U2 32bit MCU ST STM32F303CBT7
67 3 U3, U4, U5Rail-to-rail input/output 20 MHz GBPoperational amplifiers
ST TSV991ILT
68 1 U6 3 A step-downswitching regulator ST L7986TR
69 3 U7, U10, U11 High voltage highand low-side driver ST L6398D
UM2197Bill of materials
UM2197 - Rev 2 page 20/26
Item Q.ty Ref. Part / Value Description Manufacturer Order code
70 1 U8 Low drop vo ltageregulator ST LD39050PU33R
71 1 U9 Low drop vo ltageregulator ST LD1117S50TR
72 1 X1 Resonators 8 Mhz Murata CSTCE8M00G55-R0
UM2197Bill of materials
UM2197 - Rev 2 page 21/26
Revision history
Table 5. Document revision history
Date Version Changes
07-Apr-2017 1 Initial release.
13-Nov-2018 2Updated Introduction and Section 5 Bill of materials.
Added references to STL160N4F7.
UM2197
UM2197 - Rev 2 page 22/26
Contents
1 Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
1.1 Target application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
2.1 STEVAL-ESC001V1 hardware overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.1 STEVAL-ESC001V1 top side components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.2 STEVAL-ESC001V1 bottom side components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.3 Board dimensions (29.1 x 58 mm). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Communication, programming and command interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 STM32 pinout for motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Initializing and using the STEVAL-ESC001V1 ESC board . . . . . . . . . . . . . . . . . . . . . . . . . .10
4 Schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
5 Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
UM2197Contents
UM2197 - Rev 2 page 23/26
List of figuresFigure 1. STEVAL-ESC001V1 evaluation board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Figure 2. STEVAL-ESC001V1 target applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Figure 3. System structure overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Figure 4. Typical quadcopter architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Figure 5. STEVAL-ESC001V1 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 6. Top side features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 7. Bottom side features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Figure 8. STEVAL-ESC001V1 board dimensions (not including capacitors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Figure 9. UART TX/RX (3v3 level) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Figure 10. STEVAL-ESC001V1 connection for MCU programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Figure 11. Sample SWD configuration on IAR tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Figure 12. STEVAL-ESC001V1 input/output connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Figure 13. ST MC Workbench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Figure 14. ST MC Workbench – electrical motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Figure 15. ST MC Workbench – startup parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Figure 16. IAR tool select, compile and upload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Figure 17. PWM input signal for motor speed regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Figure 18. STEVAL-ESC001V1 circuit schematic (1 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Figure 19. STEVAL-ESC001V1 circuit schematic (2 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Figure 20. STEVAL-ESC001V1 circuit schematic (3 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Figure 21. STEVAL-ESC001V1 circuit schematic (4 of 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
UM2197List of figures
UM2197 - Rev 2 page 24/26
List of tablesTable 1. Main STM32 pinout for motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 2. Input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Table 3. Relationship between the STEVAL board SWD pinout and SWD on ST-Link/V2 programmer. . . . . . . . . . . . . . . 10Table 4. STEVAL-ESC001V1 bill of materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Table 5. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
UM2197List of tables
UM2197 - Rev 2 page 25/26
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UM2197
UM2197 - Rev 2 page 26/26