ARTERY AT32F4 Series User manual

Low Voltage Motor Control Development Board
2022.12.01 1 Ver 2.0.2
UM0011
User Manual
AT32 MCU-based Low Voltage Motor Control Development Board
Overview
This document mainly introduces the basic functions, hardware features and hardware circuits,
aimed at helping developers to easily develop motor control applications with AT32 MCU on this
board.
Applicable products:
Part number
AT32F4xx, AT32L0xx

Low Voltage Motor Control Development Board
2022.12.01 2 Ver 2.0.2
Contents
1Board description............................................................................................6
2Software and hardware requirements .............................................................7
3Getting started ................................................................................................8
4Hardware configuration...................................................................................9
4.1 System architecture ..........................................................................................................9
4.2 Jumper and connector location......................................................................................10
4.3 Jumper settings...............................................................................................................11
4.4 Connectors.......................................................................................................................11
4.4.1 CN1 .......................................................................................................................11
4.4.2 CN2 .......................................................................................................................12
4.4.3 CN3 .......................................................................................................................12
4.4.4 CN4 .......................................................................................................................12
4.4.5 CN5 .......................................................................................................................13
4.4.6 CN6 .......................................................................................................................13
4.4.7 Pin header connectors...........................................................................................13
4.5 Test points........................................................................................................................14
5Hardware circuit ............................................................................................16
5.1 Incremental encoder circuit ............................................................................................17
5.2 Hall sensor circuit............................................................................................................17
5.3 Current sensing circuit....................................................................................................18
5.3.1 Phase current sensing circuit.................................................................................18
5.3.2 DC bus current sensing circuit...............................................................................18
5.4 OCP sensing circuit.........................................................................................................19
5.4.1 Three-phase OCP sensing circuit...........................................................................19
5.4.2 Bus OCP sensing circuit........................................................................................19
5.5 Bus voltage sensing circuit.............................................................................................20
5.6 Three-phase output voltage sensing circuit..................................................................20
5.7 Power stage circuit..........................................................................................................22

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5.7.1 Three-phase full-bridge converter circuit................................................................22
5.7.2 Brake circuit...........................................................................................................22
5.8 Communication circuit ....................................................................................................23
5.9 Potentiometer input interface .........................................................................................24
6Schematic diagrams......................................................................................25
6.1 System power supply......................................................................................................25
6.2 MCU interface..................................................................................................................26
6.3 USB-to-UART interface ..................................................................................................27
6.4 Hall / Encoder circuit.......................................................................................................28
6.5 Power MOSFET schematic............................................................................................29
6.6 Voltage feedback schematic ..........................................................................................30
6.7 Current feedback schematic ..........................................................................................31
6.8 Other.................................................................................................................................32
7PCB layouts...................................................................................................33
7.1 Component location diagram .........................................................................................33
7.2 Top layer layout ...............................................................................................................34
7.3 Bottom layer layout .........................................................................................................35
8Bill of materials ............................................................................................. 36
9Revision history ............................................................................................40

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List of tables
Table 1. Jumper settings................................................................................................................11
Table 2. CN1 description................................................................................................................11
Table 3. CN2 (JTAG) description................................................................................................... 12
Table 4. CN3 (AT-Link) description................................................................................................ 12
Table 5. CN4 (USB) description.................................................................................................... 12
Table 6. CN5 description............................................................................................................... 13
Table 7. CN6 description............................................................................................................... 13
Table 8. Pin connector description................................................................................................ 13
Table 9. Summary of test points.................................................................................................... 14
Table 10. Document revision history............................................................................................. 40

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List of figures
Figure 1. Low voltage motor control development board................................................................. 6
Figure 2. Board system architecture ............................................................................................... 9
Figure 3. Jumper and connector location...................................................................................... 10
Figure 4. Incremental encoder circuit............................................................................................ 17
Figure 5. Hall sensor circuit.......................................................................................................... 17
Figure 6. Phase current sensing feedback circuit.......................................................................... 18
Figure 7. DC bus current sensing feedback circuit........................................................................ 18
Figure 8. Phase current OCP sensing circuit................................................................................. 19
Figure 9. Bus OCP sensing circuit................................................................................................ 19
Figure 10. Bus voltage sensing circuit........................................................................................... 20
Figure 11. Output voltage sensing circuit...................................................................................... 21
Figure 12. Virtual neutral point comparator circuit......................................................................... 21
Figure 13. V-shunt half-bridge power conversion circuit................................................................ 22
Figure 14. Brake circuit................................................................................................................. 23
Figure 15. UART serial interface circuit......................................................................................... 23
Figure 16. Potentiometer input interface circuit............................................................................. 24

Low Voltage Motor Control Development Board
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1 Board description
The motor development board serves as a general-purpose lowvoltage three-phase motor
driver based on ARTERY AT32 MCU and motor control function library. It can be used to drive
BLDC, AC synchronous and induction motors.
A MCU socket applied to all AT32 MCUs for motor control algorithmexecution
Hall connector and encoder connector for rotor position feedback, to drive motor with sensor in
FOC vector control or six-step square wave mode
Brake resistor connector for dynamic braking in high dynamic response control mode
3-phase output terminal voltage sensing circuit connected to ADC, virtual neutral point circuit
and comparator circuit, suitable for multiple BLDC six-step square wave sensorless
applications
Three phase current sensing resistors and one DC ground bus current sensing resistor,
supporting three current sensing modes (3-shunt, 2-shunt and 1-shunt current sensing modes)
Built-in overcurrent compare circuits for phase currents and bus current
Support sensored/sensorless field-oriented vector control algorithmto drive three-phase AC
motors
Support household, commercial and industrial motor control application technologies
Input voltage/output current spec
Input voltage: 12V~60V
Maximum output phase current: 30APEAK
Overcurrent protection point: 45APEAK
Figure 1. Low voltage motor control development board

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2 Software and hardware requirements
Windows®-based PC (Windows 8, Windows 10, Windows 11) to installuser interface control
program
Micro-B USB cable to connect the board with PC for communication
ARTERYAT-Link or third-party programmer
ARTERYAT32 motor control demonstration project program
3-phaseAC motor with 12V~60V rated voltage and below 30Arated current
DC power supply

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3 Getting started
Rated specifications for motor development board
Input voltage: 12V~60V
Maximum output phase current: 30APEAK
Overcurrent protection point: 45APEAK
Get started with the steps below:
1) Check that the jumper settings are correct (See Section 4.3)
2) Connect AT-Link to CN3, or JTAG to CN2
3) Program ARTERY AT32 motor control demonstration program
4) Use micro-B USB cable to connect UART-to-USB interface (CN4) to PC USB port
5) Connect 3-phase motor cable to CN5, and connect U, V and W wires to OUT1, OUT2 and
OUT3, respectively
6) Adjust voltage and current if DC power supply, connect output to CN1 before turning on power
supply, and then LED1 (12 V power indicator) and LED2 (3.3 V power indicator) will be ON
7) Set parameters and control motor operation using the interface control program
(ArteryMotorMonitor)

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4 Hardware configuration
4.1 System architecture
Figure 2 presents the system architecture of low voltage motor control development board.
As illustrated in Figure 2,AT32 MCU socket is available to be connected with most AT32 MCUs.
The MCU PWM generator isused to control three-phase full-bridge circuit and brake circuit. The
output of 3-phase power stage has a voltage divider circuit for 3-phase output voltages feedback.
The board also includes a comparator circuit with virtual neutral point, which is able to feedback the
zero crossing signals of BLDC BEMF. Besides, there are on-board Hall sensor and encoder
connectors designed to feedback rotor positions. In terms of command input interfaces, the board
incorporates USB-to-USART, UART, I2C, and a potentiometer analog input interface. By adjusting
this potentiometer to change the output voltage command and read byADC. In addition, the board
offers two DIP switches and one button switch that can be used to configure control modes. Also,
five LEDs including an error LED are available on the board.
Figure 2. Board system architecture
Bulk Cap. Brake
Conn.
DC IN
Conn.
Phase 3
3-phase
Power
stage
Phase 2
3-phase
Power
stage
Motor
Conn.
Brake
PWM
Gate
Driver
Phase 1
3-phase
Power
stage
DC Volt.
sense
VBUS
I_ BUS
I_ ph1
I_ ph2
I_ ph3
Power
Converter High
side
PWM
Low
side
PWM
12V
5V
3.3V
12V
AT32 MCU
Socket
Motor
Voltage
sense
High side
PWM
Low side
PWM
Motor
Voltages
sense
Currents
feedback
VBUS
ADC
Timer w/
PWM Gen.
Motor
voltages
sense
Comparator
w/ virtual
neutral point
Timer w/
Capture &
QE I/F J umpers
BEMF zero
crossing
signals
Hall
Sensor
Conn.
Hall sensor
signals
Encoder
signals
Hall
circuit
Encoder
Conn.
Timer w/
QE I/F Encoder
circuit
USB
Conn.
USB

UART
UART
VR
Current
sense
VR
J TAG
Conn.
AT-Link
Conn.
Serial Wire Debug
UART
UART
Conn.
UART
GPIO
2 DIP
switches
5 LEDs
1 Button
Digital
signals
Digital
signals
Brake PWM
I2C
I2C
Conn.
Over
Current
circuit
OCP
OCP

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4.2 Jumper and connector location
Figure 3. Jumper and connector location