Introduction

This document describes how to set up and generate a motor control firmware project enabling the position control feature to

drive a three-phase PMSM motor using the X-CUBE-MCSDK STM32Cube Expansion Package. It also explains how to tune the

system and develop a demonstration program using the available API (application programming interface).

The descriptions for X-CUBE-MCSDK in this document apply also entirely to the X-CUBE-MCSDK-FUL STM32Cube Expansion

Package.

Position control of a three-phase permanent magnet motor

using X‑CUBE‑MCSDK or X‑CUBE‑MCSDK-FUL

AN5464

allows the electric drive to move the motor to a specified target mechanical position (angle) in a settled time

(duration) following a programmed trajectory composed of three phases: acceleration, constant speed, and

deceleration. Following such defined trajectory is mandatory to reach the target position with zero angular speed

and therefore avoid oscillations around the settled position.

1.1 Main features

• Position control mode available for all the control boards supported by X-CUBE-MCSDK

• Compatible with:

– Quadrature encoder (with index signal)

– Magnetic sensor (with encoder interface)

• Trajectory calculator

• A control board supported by X-CUBE-MCSDK, featuring an STM32 microcontroller based on the Arm

®

Cortex

• A power board or expansion board supported by X-CUBE-MCSDK (three-shunt current sensing is advised)

• Optionally, a complete inverter supported by X-CUBE-MCSDK

• The main power supply (according to the host board used)

• A USB Type-A to Mini-B cable for programming and debugging (see the exact requirements of the board

used)

• A PMSM motor with quadrature encoder (with index signal)

• A Windows

– IAR

– EWARM

– Keil

- MDK-ARM

– STMicroelectronics - STM32CubeIDE

• X-CUBE-MCSDK version v5.4.3 or later

AN5464