5/8/2012

dsPIC30F Programming with MPLAB

PWM: Pulse Width Modulation

1) Asst. Prof. Dr. Kittiphan Techakittiroj, Ph.D
2) Dr. Narong Aphiratsakun, D.Eng

Assumption University
Faculty of Engineering

a) Why PWM

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a) Switching frequency and duty cycle

b) PWM Configuration

OpenMCPWM(period, sptime, config1, config2, config3)

ConfigIntMCPWM(config)

CloseMCPWM()

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b) OpenMCPWM: Enable PWM module

OpenMCPWM(period, sptime, config1, config2, config3)

config1
fg
//On/Off PWM module
PWM_EN : Enable PWM
PWM_DIS : Disable PWM

//Idle Mode
PWM_IDLE_CON : TPWM still working in idle mode
PWM_IDLE_STOP : PWM stop working in idle mode

//Output Prescalar
PWM_OP_SCALE1 : Prescalar 1:1
PWM_OP_SCALE2 : Prescalar 1:2
:
:
PWM_OP_SCALE15 : Prescalar 1:15
PWM_OP_SCALE16 : Prescalar 1:16

b) OpenMCPWM: Enable PWM module

OpenMCPWM(period, sptime, config1, config2, config3)

config1
fg
//Input Prescalar
PWM_IPCLK_SCALE1 : Prescalar 1:1
PWM_IPCLK_SCALE4 : Prescalar 1:4
PWM_IPCLK_SCALE16 : Prescalar 1:16
PWM_IPCLK_SCALE64 : Prescalar 1:64

//PWM Mode
PWM MOD FREE
PWM_MOD_FREE : Free mode (Edge aligned )
PWM_MOD_SING : Single event
PWM_MOD_UPDN : Count up and count down (center aligned)
PWM_MOD_DBL : Center aligned with double update

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b) OpenMCPWM: Enable PWM module

OpenMCPWM(period, sptime, config1, config2, config3)

config2
fg
//Complementary PWM or independent PWM
PWM_MOD3_COMP : PWM3 as module (dead band will be set)
PWM_MOD2_COMP : PWM2 as module (dead band will be set)
PWM_MOD1_COMP : PWM1 as module (dead band will be set)
PWM_MOD3_IND : PWM3 as independent
PWM_MOD2_IND : PWM2 as independent
PWM_MOD1_IND : PWM1 as independent

//PWM Pins Enable

PWM_PEN3H : PWM3H is set to PWM
PWM_PDIS3H : PWM3H is set to general IO
PWM_PEN2H : PWM2H is set to PWM
PWM_PDIS2H : PWM2H is set to general IO

b) OpenMCPWM: Enable PWM module

OpenMCPWM(period, sptime, config1, config2, config3)

config2
fg
//PWM Pins Enable
PWM_PEN1H : PWM1H is set to PWM
PWM_PDIS1H : PWM1H is set to general IO
PWM_PEN3L : PWM3L is set to PWM
PWM_PDIS3L : PWM3L is set to general IO
PWM_PEN2L : PWM2L is set to PWM
PWM_PDIS2L : PWM2L is set to general IO
PWM PEN1L
PWM_PEN1L : PWM1L is set to PWM
PWM_PDIS1L : PWM1L is set to general IO

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b) OpenMCPWM: Enable PWM module

OpenMCPWM(period, sptime, config1, config2, config3)

config3
//Special
PWM_SERVOPS1 : Prescalar 1:1
PWM_SERVOPS2 : Prescalar 1:2
:
:
PWM_SERVOPS15 : Prescalar 1:15
PWM_SERVOPS16 : Prescalar 1:16

//Output
p Synchronous
y mode
PWM_OSYNC_PWM : Register OVDCON is updated with PWM timer
PWM_OSYNC_Tcy : Register OVDCON is updated with next cycle
clock

//PWM is updated
PWM_UEN : Update PWM is enable
PWM_UDIS : Update PWM is disable

b) Switching Frequency calculation

Switching frequency of PWM can be set by:

FCY
PTPER = 4
⎛ FPWM ⎞
⎜ ⎟ *( PTMR Pr escaler )
⎝ PLL ⎠

Desired switching frequency will depends on PLL: Take PLL4 for this case.
With crystal = 7.3728 MHz, and choose Prescaler as 1, desired switching
frequency = 1000 Hz.

⎛ 7.3728
7 3728M M ⎞
⎜ ⎟
PTPER = ⎜ 4 ⎟ − 1 = 7371.8 ≈ 7372
⎜ ⎛ 1000 ⎞ *(1) ⎟
⎜⎜ 4 ⎟ ⎟
⎝⎝ ⎠ ⎠

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b) OpenMCPWM: Enable PWM module

OpenMCPWM(period, sptime, config1, config2, config3)

period
From calculation, with crystal of 7.3728 MHz, desire frequency is 1000 Hz.
Set Prescalar 1:1, PLL to 4 and
period = 7372

From calculation, with crystal of 4 MHz, desire frequency is 1000 Hz.

Set Prescalar 1:1, PLL to 4 and
pperiod = ????

sptime
sptime = 0x0;

b) PWM pins

PWM 1‐3

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b) Setting PWM

**Add pwm.h in the header

OpenMCPWM(period, 0x0, config1, config2, config3)

SetDCMCPWM(dutycyclereg, dutycycle, updatedisable);

where
dutycyclereg = 1; //PWM1
dutycycle = (period/2)<<1; //PDCx<15:1>
updatedisable = 0;

Lab8A) PWM

Task1: Obtain PWM output from RE0 and RE1 with desire frequency
of 2 KHz. Measure with oscilloscope.
a) When pressing SW0: set duty cycle to 0%.
b) When pressing SW1: set duty cycle to 90%.
c) When pressing SW2: set duty cycle to 50%.

Show each state in Hyperterminal. Draw your output waveform with

specified duty cycle and switching frequency.

Note: Set RE0 and RE1 as PWM function.

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c) PWM Application: Motor Control (H-bridge)

Q1 and Q4 are “ON”, Q2 and Q3 are “OFF” : Motor rotate in clockwise direction

Q2 and Q3 are “ON”, Q1 and Q4 are “OFF” : Motor rotate in counter clockwise
di ti
direction

NOTE:
Q1 and Q3 Can’t be “ON” at the same time!
Q2 and Q4 Can’t be “ON” at the same time!

c) PWM Application: Motor Control

Line driver (buffer) is used to prevent damaged to the micro controller.

H-bridge is used to drive motor in both direction.

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c) PWM Application: Motor Control (buffer: 74LS244)

c) PWM Application: Motor Control (Motor Driver:

L293D)
Do not look at pins arrangement with this diagram

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c) PWM Application: Motor Control (Motor Driver:

L293D)

c) PWM Application: Motor Control with L293D

CW: IN1 (0), IN2(1)

CCW: IN1 (1), IN2(0) Switching frequency affect the characteristics
of motor and loss of the power
Speed control from duty cycle

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Lab8B) Speed Control of 5.9V motor

Previous Task: Obtain PWM output from RE0 and RE1 with desire frequency
of 2 KHz.
a) When pressing SW0: set duty cycle to 0%.
b) When
Wh pressing
i SW1:
SW1 sett duty
d t cycle
l to
t 90%.
90%
c) When pressing SW2: set duty cycle to 50%.

Task2: Modification of the existing codes to:

Add slow stop IN1(0) and IN2(0) to stop the motor before change the direction
of rotation.
a) When pressing SW0: set duty cycle to 0%.
b)) When ppressing
g SW1: slow stop,p, CW and set dutyy cycle
y to 45%.
c) When pressing SW2: slow stop, CCW and set duty cycle to 85%.

Show each state (direction and duty cycle) in Hyperterminal.

Note: Set RE0 and RE1 as PWM function.

L293D may burn if you did not stop it before reversal of rotation!! (50฿)!!

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