Renesas H8S/2635 Handbuch PDF herunterladen (Seite 21)

Fig. 3.6-1. Brushless motor which was used by me.

First of all we calculated the length of phase tables. We assumed that the amplitude of the

sinusoid wave will be equal to 0x3fff. Making the maximum equal to 0x7fff and the minimum

equal to 0 we were able to keep all levels inside two bytes (denoted as short in C). The rest

calculations were made exactly as described in the subsection 3.5 and the final length of our

phase tables was 4000 (phase tables with length of 2048 presented in above mentioned

examples were used only for tests with motor presented on fig. 3.6-1 and it should be said, that

this motor was not used in Eurobot project). Next we used hall sensors and block diagram

presented on the pictures nr 3.5-2 to protect against wrong direction of rotation of the motor.

As was mentioned in subsection 3.3 it can occur in the early begin when the motor starts to

rotate. In other words, we decided that at begin we will rotate motor in desired direction with

help of hall sensor. Then, when we calculate exactly position of

the index. After that we continue the rotation of the motor only with use of IRC sensors.

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Renesas H8S/2635 Handbuch Seite 21