PWM current control loop L6258EA
22/32
Figure 9. Aloop bode plot (compensated)
We can see that the effect of the load pole is cancelled by the zero of the Bx block ; the total
Aloop cross a the 0dB axis with a slope of -20dB/decade, having in this way a stable system
with an high gain at low frequency and a bandwidth of around 8KHz.
To increase the bandwidth of the system, we should increase the gain of the Bx block,
keeping the zero in the same position. In this way the result is a shift of the total Aloop
transfer function up to a greater value.
3.5 Effect of the Bemf on the current control loop stability
In order to evaluate what is the effect of the Bemf voltage of the stepper motor we have to
look at the load block:
L6258EA PWM current control loop
23/32
Figure 10. Electrical model of the load
The schematic now shows the equivalent circuit of the stepper motor including a sine wave
voltage generator of the Bemf. The Bemf voltage of the motor is not constant, its value
changes depending on the speed of the motor.
Increasing the motor speed the Bemf voltage increases:
Bemf = Kt · ω
where:
Kt is the motor constant
ω is the motor speed in radiant per second
The formula defining the gain of the load considering the Bemf of the stepper motor
becomes:
we can see that the Bemf influences only the gain of the load block and does not introduce
any other additional pole or zero, so from the stability point of view the effect of the Bemf of
the motor is not critical because the phase margin remains the same.
Practically the only effect of the Bemf is to limit the gain of the total Aloop with a consequent
variation of the bandwidth of the system.
OUT+
Bemf
R
L
L
L
OUT-
R
S
to Sense
Amplifier
ACload
Vsense
Vout
---------------------
V
S
Bemf()
R
S
R
L
R
S
+
----------------------
V
S
----------------------------------------------------------------==
Acload
V
S
Bemf
V
S
-----------------------------
R
S
R
L
R
S
+
----------------------
=
ACload
dB
20
V
S
Bemf
V
S
-----------------------------
R
S
R
L
R
S
+
----------------------
⎝⎠
⎜⎟
⎛⎞
log=
Application information L6258EA
24/32
4 Application information
A typical application circuit is shown in Figure 11.
Note: For avoid current spikes on falling edge of DISABLE a "DC feedback" would be added to the
ERROR Amplifier. (R1-R2 on Figure 11).
4.1 Interference
Due to the fact that the circuit operates with switch mode current regulation, to reduce the
effect of the wiring inductance a good capacitor (100nF) can be placed on the board near
the package, between the power supply line (pin 13,31) and the power ground (pin
1,36,18,19) to absorb the small amount of inductive energy.
It should be noted that this capacitor is usually required in addition to an electrolytic
capacitor, that has poor performance at the high frequencies, always located near the
package, between power supply voltage (pin 13,31) and power ground (pin 1,36,18,19), just
to have a current recirculation path during the fast current decay or during the phase
change.
The range value of this capacitor is between few µF and 100µF, and it must be chosen
depending on application parameters like the motor inductance and load current amplitude.
A decoupling capacitor of 100nF is suggested also between the logic supply and ground.
The EA_IN1 and EA_IN2 pins carry out high impedance lines and care must be taken to
avoid coupled noise on this signals. The suggestion is to put the components connected to
this pins close to the L6258, to surround them with ground tracks and to keep as far as
possible fast switching outputs of the device. Remember also an 1 Mohm resistor between
EA_INx and EA_OUTx to avoid output current spike during supply startup/shutdown.
A non inductive resistor is the best way to implement the sensing. Whether this is not
possible, some metal film resistor of the same value can be paralleled.
The two inputs for the sensing of the winding motor current (SENSE_A & SENSE_B) should
be connected directly on the sensing resistor Rs terminals, and the path lead between the
Rs and the two sensing inputs should be as short as possible.
Note: Connect the DISABLE pin to a low impedance (< 300
Ω
) voltage source to reduce at
minimum the interference on the output current due to capacitive coupling of OUT1A (pin5)
and DISABLE (pin 6).

E-L6258EATR

Mfr. #:
Manufacturer:
STMicroelectronics
Description:
Motor / Motion / Ignition Controllers & Drivers Industrial & ASIC
Lifecycle:
New from this manufacturer.
Delivery:
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