Electric motor control chip and method

• US 5,581,254 A
• Filed: 03/30/1994
• Issued: 12/03/1996
• Est. Priority Date: 03/30/1994
• Status: Expired due to Term

• Current Assignee: Burr-Brown Corporation (Texas Instruments, Inc.)
• Original Assignee: Burr-Brown Corporation (Texas Instruments, Inc.)
• Inventors: Rundel, Bernd M.
• Primary Examiner(s): Young, Brian K.
• Application Number:
  US08/220,289
• Time in Patent Office: 979 Days
• Field of Search: 318/798-815, 341/122, 341/144, 341/150, 341/155, 341/165
• US Class Current: 341/155
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/33268 D-A, A-D
• CPC Class Codes: G05B 2219/34008 Asic application specific integrated circuit, single chip microcontroller
• CPC Class Codes: G05B 2219/34279 Pc, personal computer as controller
• CPC Class Codes: G05B 2219/37285 Load, current taken by motor
• CPC Class Codes: G05B 2219/37297 Two measurements, on driving motor and on slide or on both sides of motor
• CPC Class Codes: G05B 2219/41319 Ac, induction motor
• CPC Class Codes: G05B 2219/42093 Position and current, torque control loop
• CPC Class Codes: H02P 6/34 Modelling or simulation for control purposes

Abstract

A conversion circuit digitizes first and second differential analog signals conducted by first and second conductors for digital processing in a motor control system. The conversion circuit includes an analog-to-digital conversion circuit. The analog-to-digital conversion circuit includes a CDAC having a charge summing conductor connected to an input of a bit decision comparator and first and second simultaneously sampled differential sample and hold MSB circuits connected to the charge summing conductor. The first and second differential analog signals are simultaneously sampled and held in the first and second differential sample and hold MSB circuits, respectively, and then are sequentially converted to digital numbers by the analog-to-digital conversion circuit. The first and second analog signals are processed as differential signals all the way from the analog input of the conversion circuit to inputs of a bit decision comparator in the analog-to-digital conversion circuit, and thereby maintain a high level of common mode noise rejection. Programmable reference voltage levels are supplied to the analog-to-digital conversion circuit to accommodate a wide range of amplitudes of the first and second differential analog signals.

Claims

1. A circuit for digitizing first and second analog signals for digital processing in a motor control system including a motor and a load driven by the motor, the circuit comprising in combination:

(a) first and second conductors conducting the first and second analog signals, respectively;

(b) an analog-to-digital conversion circuit including a CDAC having a charge summing conductor connected to an input of a bit decision comparator;

(c) first and second simultaneous sample and hold MSB circuits,

the first simultaneous sample and hold MSB circuit including

i. a first MSB switch circuit connected to a third conductor, a first sampling switch connected between the first conductor and the third conductor, and a first MSB capacitor having first and second terminals, the first terminal of the first MSB capacitor being connected to the third conductor,

ii. a first isolation switch selectively coupling the second terminal of the first MSB capacitor to the first charge summing conductor during conversion of the first analog signal to a digital number,

iii. a first MSB capacitor grounding switch coupling the second terminal of the first MSB capacitor to a reference voltage during simultaneous sampling of the first and second simultaneous sample and hold MSB circuits,

the second simultaneous sample and hold MSB circuit including

iv. a second MSB switch circuit connected to a fourth conductor, a second sampling switch connected between the second conductor and the fourth conductor, and a second MSB capacitor having first and second terminals, the first terminal of the second MSB capacitor being connected to the fourth conductor,

v. a second isolation switch selectively coupling the second terminal of the second MSB capacitor to the charge summing conductor during conversion of the second analog signal to a digital number, and

vi. a second MSB capacitor grounding switch coupling the second terminal of the second MSB capacitor to the reference voltage during simultaneous sampling of the first and second simultaneous sample and hold MSB circuits,

whereby the first and second analog signals can be simultaneously sampled and held in the first and second simultaneous sample and hold MSB circuits, respectively, and then sequentially converted to digital numbers by the analog-to-digital conversion circuit.

2. A circuit for digitizing first and second analog signals for digital processing in a motor control system including a motor and a load driven by the motor, the circuit comprising in combination:

(a) first and second conductors conducting the first and second analog signals, respectively;

(b) an analog-to-digital conversion circuit including a CDAC having a charge summing conductor connected to an input of a bit decision comparator;

(c) a first simultaneous sample and hold MSB circuit coupled between the charge summing conductor and the first conductor, and a second simultaneous sample and hold MSB circuit coupled between the charge summing conductor and the second conductor,

whereby the first and second analog signals can be simultaneously sampled and held in the first and second simultaneous sample and hold MSB circuits, respectively, and then sequentially converted to digital numbers by the analog-to-digital conversion circuit without resampling of either of the first and second simultaneous sample and hold MSB circuits.

3. A circuit for digitizing first and second differential analog signals for digital processing in a motor control system including a motor and a load driven by the motor, the circuit comprising in combination:

(a) first and second conductors conducting the first differential analog signal, and third and fourth conductors conducting the second differential analog signal;

(b) an analog-to-digital conversion circuit including a main CDAC having a first charge summing conductor and a trim CDAC having a second charge summing conductor;

(c) a bit decision comparator having a first input coupled to the first charge summing conductor and a second input coupled to the second charge summing conductor;

(d) first and second differential simultaneous sample and hold MSB circuits,

the first differential sample and hold MSB circuit including

i. a first MSB switch circuit connected to a fifth conductor, a first sampling switch connected between the first conductor and the fifth conductor, and a first MSB capacitor having first and second terminals, the first terminal of the first MSB capacitor being connected to the fifth conductor,

ii. a first isolation switch selectively coupling the second terminal of the first MSB capacitor to the first charge summing conductor during conversion of the first differential analog signal to a digital number,

iii. a first MSB capacitor grounding switch coupling the second terminal of the first MSB capacitor to a reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

iv. a second MSB switch circuit connected to a sixth conductor, a second sampling switch connected between the second conductor and the sixth conductor, and a second MSB capacitor having first and second terminals, the first terminal of the second MSB capacitor being connected to the sixth conductor,

v. a second isolation switch selectively coupling the second terminal of the second MSB capacitor to the second charge summing conductor during conversion of the first differential analog signal to a digital number,

vi. a second MSB capacitor grounding switch coupling the second terminal of the second MSB capacitor to the reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

the second differential simultaneous sample and hold MSB circuit including

vii. a third MSB switch circuit connected to a seventh conductor, a third sampling switch connected between the third conductor and the seventh conductor, and a third MSB capacitor having first and second terminals, the first terminal of the third MSB capacitor being connected to the seventh conductor,

viii. a third isolation switch selectively coupling the second terminal of the third MSB capacitor to the first charge summing conductor during conversion of the second differential analog signal to a digital number,

ix. a third MSB capacitor grounding switch coupling the second terminal of the third MSB capacitor to the reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

x. a fourth MSB switch circuit connected to an eighth conductor, a fourth sampling switch connected between the fourth conductor and the eighth conductor, and a fourth MSB capacitor having first and second terminals, the first terminal of the fourth MSB capacitor being connected to the eighth conductor,

xi. a fourth isolation switch selectively coupling the second terminal of the fourth MSB capacitor to the second charge summing conductor during conversion of the second differential analog signal to a digital number, and

xii. a fourth MSB capacitor grounding switch coupling the second terminal of the fourth MSB capacitor to the reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

whereby the first and second differential analog signals can be simultaneously sampled and held in the first and second differential simultaneous sample and hold MSB circuits, respectively, and then sequentially converted to digital numbers by the analog-to-digital conversion circuit.

4. The circuit of claim 3 including selectable MSB trim circuitry, the selectable MSB trim circuitry including a first trim capacitor, first and second trim switches, and first and second resistive trim networks, a first terminal of the first trim capacitor being coupled to the second charge summing conductor, a second terminal of the first trim capacitor being coupled to a first terminal of each of the first and second trim switches, respectively, a second terminal of the first trim switch being coupled to the first resistive trim network, and a second terminal of the second trim switch being coupled to the second resistive trim network, the first trim switch selectively coupling the first trim capacitor to the first resistive trim network during conversion of the first differential analog signal to a digital number, the second trim switch selectively coupling the first trim capacitor to the second resistive trim network during conversion of the second differential analog signal to a digital number.

5. The circuit of claim 3 including selectable offset trim circuitry, the selectable offset trim circuitry including an offset trim capacitor, first and second offset trim switches, and first and second resistive offset trim networks, the offset trim capacitor having a first terminal coupled to the second charge summing conductor, the first offset trim switch being coupled between the first resistive offset trim network and a second terminal of the offset trim capacitor, and the second offset trim switch being coupled between the second resistive offset trim network and the second terminal of the offset trim capacitor, the first offset trim switch selectively coupling the first resistive offset trim network to the offset trim capacitor during conversion of the first differential analog signal to a digital number, the second offset trim switch selectively coupling the second resistive offset trim network to the offset trim capacitor during conversion of the second differential analog signal to a digital number.

6. An analog-to-digital converter for digitizing first and second analog signals, comprising in combination:

(a) first and second conductors conducting the first and second analog signals, respectively;

(b) a single analog-to-digital conversion circuit including a single CDAC having a charge summing conductor connected to an input of a bit decision comparator;

(c) a first simultaneous sample and hold MSB circuit coupled between the charge summing conductor and the first conductor, and a second simultaneous sample and hold MSB circuit coupled between the charge summing conductor and the second conductor,

whereby the first and second analog signals can be simultaneously sampled and held in the first and second sample and hold MSB circuits, respectively, and then sequentially converted to digital numbers by the analog-to-digital conversion circuit.

7. An analog-to-digital converter circuit for digitizing first and second differential analog signals, comprising in combination:

(a) first and second conductors conducting the first differential analog signal, and third and fourth conductors conducting the second differential analog signal;

(b) an analog-to-digital conversion circuit including a main CDAC having a first charge summing conductor and a trim CDAC having a second charge summing conductor;

(c) a bit decision comparator having a first input coupled to the first charge summing conductor and a second input coupled to the second charge summing conductor;

(d) first and second differential simultaneous sample and hold MSB circuits,

the first differential sample and hold MSB circuit including

i. a first MSB switch circuit connected to a fifth conductor, a first sampling switch connected between the first conductor and the fifth conductor, and a first MSB capacitor having first and second terminals, the first terminal of the first MSB capacitor being connected to the fifth conductor,

ii. a first isolation switch selectively coupling the second terminal of the first MSB capacitor to the first charge summing conductor during conversion of the first differential analog signal to a digital number,

iii. a first MSB capacitor grounding switch coupling the second terminal of the first MSB capacitor to a reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

iv. a second MSB switch circuit connected to a sixth conductor, a second sampling switch connected between the second conductor and the sixth conductor, and a second MSB capacitor having first and second terminals, the first terminal of the second MSB capacitor being connected to the sixth conductor,

v. a second isolation switch selectively coupling the second terminal of the second MSB capacitor to the second charge summing conductor during conversion of the first differential analog signal to a digital number,

vi. a second MSB capacitor grounding switch coupling the second terminal of the second MSB capacitor to the reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

the second differential simultaneous sample and hold MSB circuit including

vii. a third MSB switch circuit connected to a seventh conductor, a third sampling switch connected between the third conductor and the seventh conductor, and a third MSB capacitor having first and second terminals, the first terminal of the third MSB capacitor being connected to the seventh conductor,

viii. a third isolation switch selectively coupling the second terminal of the third MSB capacitor to the first charge summing conductor during conversion of the second differential analog signal to a digital number,

ix. a third MSB capacitor grounding switch coupling the second terminal of the third MSB capacitor to the reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

x. a fourth MSB switch circuit connected to an eighth conductor, a fourth sampling switch connected between the fourth conductor and the eighth conductor, and a fourth MSB capacitor having first and second terminals, the first terminal of the fourth MSB capacitor being connected to the eighth conductor,

xi. a fourth isolation switch selectively coupling the second terminal of the fourth MSB capacitor to the second charge summing conductor during conversion of the second differential analog signal to a digital number, and

xii. a fourth MSB capacitor grounding switch coupling the second terminal of the fourth MSB capacitor to the reference voltage during simultaneous sampling of the first and second differential simultaneous sample and hold MSB circuits,

whereby the first and second differential analog signals can be simultaneously sampled and held in the first and second differential simultaneous sample and hold MSB circuits, respectively, and then sequentially converted to digital numbers by the analog-to-digital conversion circuit.

8. A control system for controlling a motor coupled to drive a load, the load including a load position indicating device producing a first analog signal indicative of load shaft position or speed, the motor including a motor position indicating device producing a second analog signal indicative of motor position or speed, the motor receiving a plurality of pulse width modulated primary winding currents from a plurality of power switches, respectively, the control system comprising in combination:

(a) a microcontroller applying a plurality of pulse width modulated control signals to the power switches, respectively, and also producing a clock signal and a conversion signal;

(b) a plurality of current sensing devices coupled to the motor and producing a plurality of primary winding current indicating signals representative of the primary winding currents, respectively;

(c) a conversion circuit receiving the clock signal, the conversion signal, the first and second analog signals, and the primary winding current indicating signals and digitizing the first and second analog signals and the primary winding current indicating signals, the conversion circuit including

i. first and second conductors conducting first and second analog signals, respectively;

ii. an analog-to-digital converter circuit including a CDAC having a first charge summing conductor connected to a first input of a bit decision comparator;

iii. the first simultaneous sample and hold MSB circuit coupled between the first charge summing conductor and the first conductor, and a second simultaneous sample and hold MSB circuit coupled between the first charge summing conductor and the second conductor,

whereby the first and second analog signals can be simultaneously sampled and held in the first and second sample and hold MSB circuits, respectively, then sequentially converted to digital numbers by the analog-to-digital converter circuit, and then utilized by the microcontroller to adjust the pulse width modulated control signals.

9. The control system of claim 8 wherein the first simultaneous sample and hold MSB circuit includes

a first MSB switch circuit connected to a third conductor, a first sample switch connected between the first conductor and the third conductor, and a first MSB capacitor having first and second terminals, the first terminal of the first MSB capacitor being connected to the third conductor,

a first isolation switch selectively coupling the second terminal of the first MSB capacitor to the first charge summing conductor during conversion of the first analog signal to a digital number,

a first MSB capacitor grounding switch coupling the second terminal of the first MSB capacitor to a reference voltage during simultaneous sampling of the first and second simultaneous sample and hold MSB circuits,

and wherein the second simultaneous sample and hold MSB circuit includes

a second MSB switch circuit connected to a fourth conductor, a second sample switch connected between the second conductor and the fourth conductor, and a second MSB capacitor having first and second terminals, the first terminal of the second MSB capacitor being connected to the fourth conductor,

a second isolation switch selectively coupling the second terminal of the second MSB capacitor to the charge summing conductor during conversion of the second analog signal to a digital number, and

a second MSB capacitor grounding switch coupling the second terminal of the second MSB capacitor to the reference voltage during simultaneous sampling of the first and second simultaneous sample and hold MSB circuits.

10. The control system of claim 8 wherein the conversion circuit includes a digital-to-analog converter and a digital interface circuit that receives a serial digital input word during every conversion cycle of the analog-to-digital converter, the serial digital input word including an N-bit word for conversion to a first analog signal by the digital-to-analog converter, the digital interface circuit including a logic circuit synchronizing the conversion signal with respect to the clock signal and producing a latching signal synchronized with respect to the clock signal for latching each bit of the N-bit word into a shift register after various bit decisions are made by the bit decision comparator in the analog-to-digital converter, to thereby ensure that ground bounce noise produced in the analog-to-digital converter as a result of the latching of the bits of the N-bit word occurs only after the various bit decisions are made by the bit decision comparator and therefore do not significantly decrease accuracy of the bit decisions.

11. The control system of claim 8 wherein the CDAC includes a main CDAC having the first charge summing conductor and a trim CDAC having a second charge summing conductor, a second input of the bit decision comparator being coupled to the second charge summing conductor, wherein the first and second analog signals are differential signals, and wherein the first and second analog signals are simultaneously sampled by the first and second simultaneous sample and hold MSB circuits, respectively,

whereby common mode noise on the first and second analog signals is rejected by the bit decision comparator before bit decisions are made thereby.

12. The control system of claim 11 including

a first reference voltage conductor connected to the main CDAC and a second reference voltage conductor connected to the trim CDAC,

a programmable reference voltage generating circuit including

i. a reference circuit producing a first reference voltage on a first internal reference voltage conductor,

ii. a first unity gain buffer circuit receiving the first reference voltage and producing a buffered second reference voltage on a second internal reference voltage conductor,

iii. a resistive divider circuit coupled to receive the buffered second reference voltage and producing a plurality of divided-down reference voltages on a plurality of junction node conductors, respectively, of the resistive divider circuit,

iv. a plurality of switches coupled between the main reference voltage conductor and the junction node conductors and responsive to a plurality of reference voltage selection signals respectively, for selectively applying the divided-down reference voltages to the first reference voltage conductor to thereby apply a selected reference voltage to the CDAC,

v. a second unity gain buffer circuit receiving the selected reference voltage and producing a buffered third reference voltage on the second reference voltage conductor,

whereby (1) noise generated by the first unity gain buffer circuit is divided down by the resistive divider circuit by the same ratio as the buffered second reference voltage so a noise-to-reference voltage ratio of the selected reference voltage is not reduced for lower values of the selected reference voltage, and (2) common mode noise on the first and second conductors is rejected by the bit decision comparator.

13. A system for digitizing a differential analog input signal, comprising in combination:

(a) first and second conductors conducting the differential analog input signal;

(b) an analog-to-digital converter including a CDAC having differential sample and hold circuitry coupled to receive a differential analog input signal from the first and second conductors and operatively coupled to sample and hold the differential input signal, the CDAC including first and second charge summing conductors coupled both to the differential sample and hold circuitry and to first and second inputs of a bit decision comparator, respectively;

(c) a main reference voltage conductor connected to the CDAC;

(d) a programmable reference voltage generating circuit including

i. a reference circuit producing a first reference voltage on a first reference voltage conductor,

ii. a first unity gain buffer circuit receiving the first reference voltage and producing a buffered second reference voltage on a second reference voltage conductor,

iii. a resistive divider circuit coupled to receive the buffered second reference voltage and producing a plurality of divided-down reference voltages on a plurality of junction node conductors, respectively, of the resistive divider circuit,

iv. a plurality of switches coupled between the main reference voltage conductor and the junction node conductors and responsive to a plurality of reference voltage selection signals, respectively, for selectively applying the divided-down reference voltages to the main reference voltage conductor to thereby apply a selected reference voltage to the CDAC,

whereby (1) noise generated by the first unity gain buffer circuit is divided down by the resistive divider circuit by the same ratio as the buffered second reference voltage so a noise-to-reference voltage ratio of the selected reference voltage is not reduced for lower values of the selected reference voltage, and (2) common mode noise on the first and second conductors is rejected by the bit decision comparator.

14. A method for accurately digitizing a first differential analog signal in a high electrical noise environment by means of an analog-to-digital converter including a main CDAC coupled to a first charge summing conductor coupled to an input of a bit decision comparator and a trim CDAC coupled to a second charge summing conductor which is coupled to another input of the bit decision comparator, an output of the bit decision comparator being coupled to an input of a successive approximation register, the method comprising the steps of:

(a) conducting the first differential analog signal along a first pair of conductors to apply the first differential analog signal between an input of a first sample and hold MSB circuit in the first main CDAC and another input of a second sample and hold MSB circuit in the first trim CDAC;

(b) sampling and holding the voltages on the inputs of the first and second sample and hold MSB circuits, respectively, by charging up MSB capacitors in each of the first and second sample and hold MSB circuits to voltage levels representative of the voltages on the inputs of the first and second sample and hold MSB circuits, respectively;

(c) performing a plurality of charge distribution operations between (i) the MSB capacitor in the first sample and hold MSB circuit and bit capacitors coupled to the first charge summing conductor and (ii) the MSB capacitor in the second sample and hold MSB circuit and bit capacitors coupled to the second charge summing conductor, in accordance with bit signal outputs produced by the successive approximation register;

(d) applying voltages on the first and second charge summing conductors as a result of step (c) to the inputs of the bit decision comparator, respectively,

whereby common mode noise produced on the first and second conductors by the high electrical noise environment is substantially rejected by the bit decision comparator and therefore does not result in substantial bit decision errors.

15. The method of claim 14 including adjusting effects of mismatches between corresponding capacitances in the main CDAC and the trim CDAC by trimming an amount of common mode capacitance coupled to one of the first and second charge summing conductors.

16. The method of claim 15 including providing a plurality of relatively small trim capacitors each connected by a corresponding interruptible link to each of the first and second charge summing conductors, respectively, wherein the adjusting includes interrupting one or more of the interruptible links to vary the amount of trim capacitance connected to one of the first and second charge summing conductors so as to compensate for the mismatches.

17. The method of claim 14 wherein the main CDAC includes a plurality of bit switch circuits each connected to a first reference voltage conductor, the method including selecting a value of a first reference voltage on the first reference voltage conductor commensurate with a maximum amplitude of the first differential analog signal and a full scale range of the analog-to-digital converter, the selecting including buffering an internal reference voltage to produce a buffered internal reference voltage including a noise component generated by the buffering, dividing the buffered internal reference voltage into a plurality of internal divided-down reference voltages by means of a resistive divider network, closing one of a plurality of switches to selectively connect one of the divided-down reference voltages to the first reference voltage conductor, whereby the noise component is divided down by the same factor as the buffered internal reference voltage and therefore does not substantially decrease a signal-to-noise ratio of the analog-to-digital converter as lower values of the internal divided-down reference voltages are selected to make the full scale range of the analog-to-digital converter commensurate with smaller maximum amplitudes of the first differential analog signal.

18. The method of claim 14 including serially latching a plurality of bits of digital information into a latch circuit during operation of the analog-to-digital converter, wherein latching of each of the bits produces a ground bounce noise signal of magnitude sufficient to cause bit decision errors by the bit decision comparator if the ground bounce noise signal were to occur at the times bit decisions are made, the method including delaying each latching until a most recent bit decision has been made by the bit decision comparator and a corresponding output level of the bit decision comparator has been latched into the successive approximation register,

whereby the serial information is input to the latch circuit during a sequence of bit decision operations by the bit decision comparator without reducing the accuracy of the analog-to-digital converter.

19. The method of claim 17 including serially latching a plurality of bits of digital information into a latch circuit during operation of the analog-to-digital converter, wherein a plurality of the bits of digital information are decoded to close the one of the plurality of switches, and wherein latching of each bit produces a ground bounce noise signal of magnitude sufficient to cause bit decision errors by the bit decision comparator if the ground bounce noise signal were to occur at the times bit decisions are made, the method including delaying each latching until a most recent bit decision has been made by the bit decision comparator and a corresponding output level of the bit decision comparator has been latched into the successive approximation register,

whereby the serial information is input to the latch circuit during a sequence of bit decision operations by the bit decision comparator without reducing the accuracy of the analog-to-digital converter.

20. The method of claim 14 wherein the main CDAC includes a third sample and hold MSB circuit coupled to the first charge summing conductor, and the trim CDAC includes a fourth sample and hold MSB circuit coupled to the second charge summing conductor, a second differential analog signal being applied between an input of the third sample and hold MSB circuit and an input of the fourth sample and hold MSB circuit, the method including sampling and holding voltages on the inputs of the third and fourth sample and hold MSB circuits, respectively, simultaneously with the sampling and holding of step (b), by charging up MSB capacitors in each of the third and fourth sample and hold MSB circuits to voltage levels representative of the voltages on the inputs of the third and fourth sample and hold MSB circuits, respectively, before performing step (c) and, after performing step (d), repeating steps (c) and (d) to perform analog-to-digital conversion of the second differential analog signal without resampling of the second differential analog signal.