DRV8313: How can I achieve synchronous operation?

I also tried to supply PWM to INx with STM32F1.

Thank you Aaron.

I tried to do as the chart above and motor worked.

But motor doesn't work softly. 

What else should I do for soft operation of motor?

Thanks,

Robert. 

Hi Robert,

Please describe "soft" operation of the motor. Does the motor vibrate or make noise?

The best way to make motor operation smooth is to match the Back-EMF of the motor with the current provided. The above commutation scheme uses 6-step sensored trapezoidal current. This will match the BEMF best of a trapezoidally wound motor, whereas sinusoidal current will best match the BEMF of a sinusoidally wound motor. 

Does the motor operate smoother at lower voltages or duty cycles, or is it always vibrating? Can you take waveforms of OUT1, OUT2, and OUT3?

Thanks,
Aaron

Hello Aaron,

I coded with your scheme above.

The sensorless motor works but it has vibration too much.

How can I reduce vibration?

STM32F103 codes are as follows:

int main(void)
{

HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);   //IN1
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);   //IN2
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);   //IN3

while()

{

//1
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 200);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_RESET); //EN1
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET); //EN2
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET); //EN3
HAL_Delay(5);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 0);

//2
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 200);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET); //EN1
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET); //EN2
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET); //EN3
HAL_Delay(5);

//3
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET); //EN1
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET); //EN2
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET); //EN3
HAL_Delay(5);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, 0);

//4
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 200); //IN3
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_RESET); //EN1
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET); //EN2
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET); //EN3
HAL_Delay(5);

//5
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET); //EN1
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET); //EN2
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET); //EN3
HAL_Delay(5);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 0);

//6
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 200);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET); //EN1
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET); //EN2
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET); //EN3
HAL_Delay(5);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 0);

}

}

The PWM frequency is about 24KHz.

Thank you, 

Robert

Hi Robert,

I am not familiar with HAL structure of the STM32F103 codes. 

Are your Hall sensor states correct? Please confirm by sharing waveforms of  motor phase outputs OUT1, OUT2, OUT3. Do they appear trapezoidal in shape?

Thanks,
Aaron