--- title: 'BLDC無刷直流馬達控制/驅動器研究' description: '最近在研究 BLDC 驅動電路，稍微整理一下可以參考的各種零件或成品。' canonical: 'https://blog.ziteh.dev/posts/bldc-driver' created: 2023-08-02T03:59:00.000Z tags: ['電子電路', '馬達', '嵌入式'] author: 'ZiTe' rights: 'CC BY-NC-SA' --- 最近在研究 BLDC 驅動電路，稍微整理一下可以參考的各種零件或成品。 ## 完整電路板 這些是我找到的馬達驅動電路，有一半是在 GitHub 上找到的。 | 名稱 | 尺寸 (mm) | 電壓 | 連續電流 | 峰值電流 | MCU | Gate Driver | FETs | 開源 | 備註 | | ------------------------------------------------------- | ------------------ | ---------------- | ------------ | --------- | ------------------ | ----------- | ---------------------- | ---------------------------------------------- | ---------------------- | | [ODrive Pro][odrive-pro] | 51 x 64 | 12~58V | 20A | 120A (3s) | STM32H7A3RGT6 | DRV8353S | ?（並聯） | [韌體][odrive-fw] | IO 隔離 | | [ODrive S1][odrive-s1] | 66 x 50 | 12~48V | 20A | 80A (3s) | STM32H725RGV6 | DRV8353RS | TPH1R306PL | [韌體][odrive-fw] | IO 隔離 | | [ODrive v3.6][odrive-v36] | 140 x 50 | 12~24V or 12~56V | 40A (散熱片) | 120A | STM32F405RGT6 | DRV8301 | NTMFS4935NT1G（並聯） | [韌體][odrive-fw] | 雙馬達 | | [ODrive v3.5][odrive-v35] | 140 x 50 | 12~24V or 12~56V | 40A (散熱片) | 120A | STM32F405RGT6 | DRV8301 | NTMFS4935NT1G（並聯） | [韌體][odrive-fw],[硬體開始閉源][odrive-close] | 雙馬達 | | [Tinymovr R5.2][tinymovr-r52] | 40 x 36 | 12~38V | 40A (散熱) | ? | PAC5527 | 見 MCU | SIR626ADP | [韌體][tinymovr-fw] | | | [Tinymovr M5.1][tinymovr-m51] | 29.5 x 29.5 | 12~38V | 5A（散熱） | ? | PAC5527 | 見 MCU | ? | [韌體][tinymovr-fw] | | | [moteus r4.11][moteus-r411] | 46 x 53 | 12~44V | 11A | ? | STM32G474CEU6 | DRV8353FS | TPH2R506PL | [韌體][moteus-fw] | | | [moteus n1][moteus-n1] | 46 x 46 | 10~54V | 8A | ? | STM32G474CEU6 | DRV8353FS | TPH2R408QM | [韌體][moteus-fw] | | | [rp2040 motor controller][rp2040-mc] | | | | | RP2040 | EG2131 | BSC016N06NS | 硬/韌體 | | | [O32controller][o32] | 27 x 27 | 15V | 50A (散熱) | 100A | STSPIN32F0A | 見 MCU | CSD88584Q5DC（雙通道） | 硬/韌體 | | | [µMotor][mu-motor] | 35 x 20 | 24V | | 10A | STM32G474CET6 | DRV8320S | FDMD82xx（雙通道） | 硬/韌體 | | | [SimpleFOCShield][sfoc-shield] | Arduino Uno shield | 12~24V | 2A | 5A | 無 | L6234 | 見 Gate Driver | 硬/韌體 | | | [VESC][vesc] | | 60V Max | ? | ? | STM32F40x (LQFP64) | DRV8302 | IRFS7530 | 硬/韌體 | | | [miniFOC][minifoc] | | 5~18V | 5A (?) | | GD32F130G6U6 | EG2133 | AP2300 | 硬/韌體 | | | [osannolik/MotCtrl][motctrl] | 45 x 77 | | | | STM32F446 | LM5101A | FDBL0110N60 | 硬/韌體 | | | [Dagor][dagor] | 44 x 44 | 5~24V | ? | 40A | ESP32-WROM-32U | DRV8305 | ? | 韌體 | | | [Janus][janus] | 51 x 51 | 5~12V | ? | 23A | 無/ESP32-Dev-Kit1 | DRV8305 | NVTFS5C453NLWFTAG | 韌體 | | | [AdinAck/Motor-Controller][adinack] | | 5~40V | 3A | 8A | SAMD21 | DRV8316 | 見 Gate Driver | 硬/韌體 | | | [sabanekko3/PCBM\_drive-board][saganekko3] | | | | | STM32F303K8Tx | MIC4604YM | BSC028N06LS3 | 硬/韌體 | | | [FunQi-Stack][funqi] | | | | | STSPIN32G4 | 見 MCU | 無 | 韌體 (SimpleFOC) | | | [azmat-bilal/bldc\_motor\_controller\_pcb][azmat-bilal] | | | | | STM32F405RGTx | DRV8301 | CSD18540Q5B | 硬體 | 電路參考 ODrive v3.5/6 | [odrive-pro]: https://odriverobotics.com/shop/odrive-pro [odrive-s1]: https://odriverobotics.com/shop/odrive-s1 [odrive-v36]: https://odriverobotics.com/shop/odrive-v36 [odrive-v35]: https://github.com/odriverobotics/ODriveHardware/tree/master/v3/v3.5docs [odrive-close]: https://discourse.odriverobotics.com/t/3-5-odrive-schematic-release/1246 [odrive-fw]: https://github.com/odriverobotics/ODrive [tinymovr-r52]: https://tinymovr.com/products/tinymovr-r5 [tinymovr-m51]: https://tinymovr.com/products/tinymovr-m5 [tinymovr-fw]: https://github.com/tinymovr/Tinymovr/tree/master [moteus-r411]: https://mjbots.com/products/moteus-r4-11 [moteus-n1]: https://mjbots.com/products/moteus-n1 [moteus-fw]: https://github.com/mjbots/moteus [vesc]: https://github.com/vedderb/bldc-hardware [sfoc-shield]: https://github.com/simplefoc/Arduino-SimpleFOCShield [dagor]: https://github.com/byDagor/Dagor-Brushless-Controller [janus]: https://github.com/byDagor/Janus-Controller [adinack]: https://github.com/AdinAck/Motor-Controller [saganekko3]: https://github.com/sabanekko3/PCBM_drive-board [mu-motor]: https://github.com/roboterclubaachen/micro-motor [o32]: https://github.com/qwertpas/O32controller [funqi]: https://github.com/Juanduino/STSPIN32G4-FunQi-Stack [minifoc]: https://github.com/ZhuYanzhen1/miniFOC [motctrl]: https://github.com/osannolik/MotCtrl [rp2040-mc]: https://github.com/Twisted-Fields/rp2040-motor-controller [azmat-bilal]: https://github.com/azmat-bilal/bldc_motor_controller_pcb 此外，還有一些評估/開發/參考工具： - [TIDA-00774][ti-tida-00774]: 18V/1kW, 160A Peak, >98% Efficient, High Power Density Brushless Motor Drive Reference Design - [TIDA-01516][ti-tida-01516]: Single Microcontroller 18-V/600-W BLDC Motor Control Reference Design With Bluetooth® Low Energy 5.0 - [B-G431B-ESC1][st-b-g431b-esc1]: Discovery kit with STM32G431CB MCU - [STEVAL-ESC002V1][st-steval-esc002v1]: Electronic Speed Controller reference design based on STSPIN32F0A - [STEVAL-SPIN3202][st-steval-spin3202]: STSPIN32F0A advanced 3-phase BLDC driver with embedded STM32 MCU single shunt evaluation board - [EVALKIT-ROBOT-1][st-evalkit-robot-1]: Compact reference design kit for robotics and automation based on STSPIN32F0A - [EVSPIN32G4][st-evspin32g4]: STSPIN32G4 demonstration board for three-phase brushless motors [ti-tida-00774]: https://www.ti.com/tool/TIDA-00774 [ti-tida-01516]: https://www.ti.com/tool/TIDA-01516 [st-b-g431b-esc1]: https://www.st.com/en/evaluation-tools/b-g431b-esc1.html [st-evspin32g4]: https://www.st.com/en/evaluation-tools/evspin32g4.html [st-steval-esc002v1]: https://www.st.com/en/evaluation-tools/steval-esc002v1.html [st-evalkit-robot-1]: https://www.st.com/en/evaluation-tools/evalkit-robot-1.html [st-steval-spin3202]: https://www.st.com/en/evaluation-tools/steval-spin3202.html ## IC 這裡整理了一些我覺得有趣的 IC。 | 型號 | 功能 | 封裝 | | :----------------------: | --------------------------------------------------------- | ------------------- | | [STSPIN32G4][spin32g4] | MCU + Gate Driver + Op-amp | QFN-64 9x9mm | | [STSPIN32F0][spin32f0] | MCU + Gate Driver + Op-amp | QFN-48 7x7mm | | [STSPIN32F0A][spin32f0A] | MCU + Gate Driver + Op-amp | QFN-48 7x7mm | | [STSPIN32F0B][spin32f0B] | MCU + Gate Driver + Op-amp | QFN-48 7x7mm | | [L6234][l6234] | Gate Driver + FETs | PowerSO20 16x14.5mm | | [DRV8316C][drv8316c] | Gate Driver + FETs + 電流感測放大器 | VQFN-40 7x5mm | | [MCF8316A][mcf8316a] | 硬體 FOC controller + Gate Driver + FETs + 電流感測放大器 | VQFN-40 7x5m | | [TMC4671][tmc4671] | 硬體 FOC controller | QFN-76 10.5x6.5mm | STSPIN32 SiP | STSPIN32 | F0 | F0A | F0B | G4 | | ----------------- | ---------------- | ---------------- | ---------------- | ---------------- | | MCU | STM32F031C6 | STM32F031C6 | STM32F031C6 | STM32G431VB | | Clock | 48 MHz | 48 MHz | 48 MHz | 170 MHz | | SRAM | 4 KB | 4 KB | 4 KB | 32 KB | | Flash | 32 KB | 32 KB | 32 KB | 128 KB | | Operating voltage | 8~45V | 6.7~45V | 6.7~45V | 5.5~75V | | OP-Amps | 4 | 3 | 1 | 3 | | GPIOs | 15 | 16 | 20 | 40 | | CAN Bus | 0 | 0 | 0 | 1 (CAN-FD) | | USB | 0 | 0 | 0 | 1 (USB 2.0 FS) | | BOOT0 pin | No | Yes | Yes | Yes | | 3FG Hall decoding | Yes | No | No | No | | Package | QFN-48 7x7mm 1EP | QFN-48 7x7mm 1EP | QFN-48 7x7mm 1EP | QFN-64 9x9mm 1EP | > [Solved: STSPIN32F0 vs STSPIN32F0A vs STSPIN32F0B](https://community.st.com/t5/power-management/stspin32f0-vs-stspin32f0a-vs-stspin32f0b/td-p/273388) [spin32g4]: https://www.st.com/en/motor-drivers/stspin32g4.html [spin32f0]: https://www.st.com/en/motor-drivers/stspin32f0.html [spin32f0a]: https://www.st.com/en/motor-drivers/stspin32f0a.html [spin32f0b]: https://www.st.com/en/motor-drivers/stspin32f0b.html [l6234]: https://www.st.com/en/motor-drivers/l6234.html [drv8316c]: https://www.ti.com/product/DRV8316C [mcf8316a]: https://www.ti.com/product/MCF8316A [tmc4671]: https://www.analog.com/en/products/tmc4671.html ## 功率 MOSFET 都是 N 通道。 | 型號 | 通道數 | Vds (V) | Vgs (V) | Id (A) | Rds\_on (mΩ) | 尺寸 (mm) | | :------------ | :------- | :-----: | :-----: | :----------- | :------------ | :---------: | | CSD88584Q5DC | 2 (半橋) | 40 | 20 | 50 (Ta=25°C) | 0.68 (Vgs=10) | 6 x 5 | | CSD88599Q5DC | 2 (半橋) | 60 | 20 | 40 (Ta=25°C) | 1.7 (Vgs=10) | 6 x 5 | | CSD87334Q3D | 2 (半橋) | 30 | 10 | 20 (Ta=25°C) | 4.9 (Vgs=8) | 3.3 x 3.3 | | FDMD8240L | 2 (半橋) | 40 | 20 | 23 (Ta=25°C) | 2.6 (Vgs=10) | 3.3 x 5 | | FDMD8240LET40 | 2 (半橋) | 40 | 20 | 24 (Ta=25°C) | 2.6 (Vgs=10) | 3.3 x 5 | | DMT47M2LDVQ | 2 (獨立) | | | | | 3.3 x 3.3 | | DMTH6010LPD | 2 (獨立) | | | | | 5.15 x 6.15 | | DMTH10H010SPS | 1 | | | | | 5.15 x 6.15 | | DMTH4007SPS | 1 | | | | | 5.15 x 6.15 | | SiZF5302DT | 2 (半橋) | | | | | 3.3 x 3.3 | | SiZ342ADT | 2 (半橋) | | | | | 3.3 x 3.3 | | SiZF360DT | 2 (半橋) | | | | | 3.3 x 3.3 | | SiR150DP | 1 | | | | | 5.15 x 6.15 | | SiS178LDN | 1 | | | | | 3.3 x 3.3 | | SiR626ADP | 1 | | | | | 5.15 x 6.15 | | TPH1R306PL | 1 | | | | | 5.15 x 6.15 | ## 文件 - ST AN5397 "Current Sensing in motion control applications" - TI SLUA887 "Bootstrap Circuitry Selection for Half-Bridge Configurations" - Diodes DN1156 "Gate Drivers in BLDC Motors" ## 編碼器 [常見磁性旋轉位置感測器/旋轉編碼器比較](/posts/magnetic-rotaty-position-sensor) --- > 請注意，本文僅供參考，內容或資訊不一定完全正確和完整，有些資料也會隨著時間變化，請以實際情況為準。