HARDWARE IMPLEMENTATION OF A SENSORLESS CONTROL

Transcription

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E\r<de;>Cn?kl)ajlJ]qde`<rsF aTFH?A]E<=|aCn; (;>`sFzFH] aOd?kE<?Ad rsd "] Z; !q;>C FH9s;B tq;>E<;JCHaFn?A]qE?k=
l>]d`<jk;JFn;>j L E<]qE =@FHaE<IbaCnIaEEGFH=d r<=cF K ;:= L E<l 9sCn]qE<? 7>;JI f?kFn9
FH9s; = f?kFnl 9<?AE<t= gFH9<;J=n;#FHa= (\6= Z;JCn;fFH] K ; l>aCnC@?A;JI]qr F KGL Fn9<; ^ sB a l>]d`<jk; eaE<IeFn?Ade; l>]E<=nr<de?AEst?kE\Fn;>C@Cnr<`sF#=nl 9s;>de$; Z]r<jAI 9ba !q; Fn] K ; `sCn]qtqCnaded;JI r<C#a`<`<C@]Gal 9gwC@;>;J=#FH9s;
`<C@] lJ;>=n=@]qC_gwC@]qdaE L Fn9<?AEst K rsF Fn9<;!E\r<de;>C@?Al>aj0lJ]qde`<rsF aTFH?A]E<= r<=n?kE<t"]qE<j L ]qE<;?kEGFH;>C@Cnr<` F
`;>C B 3`;>C@?A]XIgw]C:= L E<l 9<C@]qE<8? 7>aFH?k]qE 8:9<;"B t;>E<;JCHaFn?A]qEaE<I6FH9<;.=n?ktqEbajfalJ{\r<?A=@?kFH?k]qE6aCn;.`;>C@gw]Cnde;>I K\L Fn9<; 5iB $7 8:9<;+^ sB ?A=?kEGFH;>C@Cnr<` FH;>IaTFFH9<; ;JE<I]g0aOB `;>C@?A]XIaE<I9ba=|al>lJ;>=n= Fn]FH9<; lJr<CnC@;>EGF
de;)a=@r<Cn;Jd;JE\Fn=|]g;)al 9 ]qE<; ]gFH9s; =nr K ?kEGFH;>C !ajA= ajAC@;)aI L =@Fn]qCn;JI ?kE"FH9<; 5iB 7 =n]OFH9baTF
?kF#l)aEl>]qde`<rsFn;_FH9<; ;>=cFH?AdaFn;>I"`]q=n? FH?k]qE"aEsI"l>]qEGFnCn]qj]qrsFH`srsFH-= Esl>;_Fn9<; l>]d`<r F aFn?A]qE<=
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q
tq;JE<;>CnaFH;J= Fn9<;|= f?kFnl 9<?AEste=@?AtqE<ajA=Zgw]CfFn9<;|?AE!q;JC@Fn;>Cf]qEOFH9<;|E<; XFB 4` ;JCn?A]XI 8:9<;>C@;Jgw]qC@; Fn9<; aC@l 9<?kFn;>lJFnr<Cn;_]gFH9<;_9baCnI yaC@; ?Ade`<jA;Jd;JEGF aFn?A]qEl)aE K ; Is;>=nlJCn? K ;JI K\L
FH9sCn;>; K a=n?Al K jk] l (\= V=@;>; 5i?kt & ?ktqEbaj#7 lJ{Xrs?A=n? FH?k]qE Vl>]E<=n?k=@FH?kE<t]g_aEbajk]qt =n?ktqEbaj
l>]E<I<?kFn?A]qEs?AE<t&aE<I5aEbajA]q,t FH,] I<?At?kF ajZl>]E !;>C@=n?A]E 5 B 7 aE<I5^ sB Z8:9<;J=n; K jA]Xl (\=OaC@;
I<;J=nl>C@? K ;>I.?AEOFH9s;|gw]jAjA"] f?kE<t =nr K =n;JlJFH?k]qE<-= from
current probes
A/D
FPGA
ia
DSP
address
data
ib
control
to
inverter
clock
PWM
interrupt
clock
i?ktqr<Cn; & 20]GaCnIaC@l 9<?kFn;>lJFnr<Cn; w=n?Ade`<jk?kxb;JI ^ a=n9<;JIjk?AE<;J=+aCn;.aEbajA]qt=@?AtqEbajA= =@]qjA?kI
jA?kE<;>=faCn; I<?ktq?kFHajv=@?AtqEbajA=:aEsI K ]qjAIO=@]qjA?kIjA?AEs;>=:aC@;|I<?Atq? F aj K r<=@;>=-
5
F:?A=0?Ade` ]C@F aE\FFH]_E<]FH?kl>; Fn9baF0FH9<;lJjA]Xl (=@?AtqE<aj ?k=Ztq;JE<;>CnaFH;JI?AE!Fn9<; ^ s B KGL rs=n?AEst a
7ylJC L =@FHaj< 8:9s;:?AEGFH;JCnEbaj l>jk] l (z]gbFH9s;f^ sB ?k= 7 aEI
FH]:Fn9<;65 B 7; E<=@?AI<;FH9s;35iB 7 FH9<?k=l>jk] l (#?A=I<? ! ?kI<;>I KGLz FH]ftq;JE<;>CnaFH; Fn9<;D?AEGFH;JCnEbajql>jk] l (
]gFH9s; 5 B 71aEsIFn] l>]qEGFnCn]qjvFn9<;|aEbajA]qt, FH], I<?At?kF aj<l>]qE!;>C@Fn;>C@=Z8:9s;z= L E<l 9<Cn]E<?87>aFH?k]qEO]g
FH9s; = L =@Fn;>d ?k=:al 9<?k-; !q;JI KGL a ` ;JCn?A]XI<?kl ?AEGFn;>CnC@r<`sFn?A]qEt;>E<;JCHaFn;>I KGL FH9<; 5 B 7-aTFyFH9<; ;JEC L B 4` ;JCn?A]XI
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0;!I<;>aj f?kFH9 l>r<C@Cn;JE\F_I<? ;>C@;>E<lJ;>= ]gyjk;>=n=zFH9baE _ FH9<;JCn;Jgw]Cn;Z;jA]X] (;JI gw]qCza C@;>=
]qjkrsFH?k]qE"]gZa K ]qrsF ?AEsl>; FH9<; I L E<ad?kl CHaEstq; ]gFH9<;+`<9ba=n;+l>r<C@Cn;JE\Fn= ?k= [_ 0;
l>]E<l>jkr<I<;>IFn9baF:? 3F Za=:E<;Jl>;J=n=HaC L Fn] 9ba !q;zaFZjA;)a=@F K ?kFn=y?AE!]qCnI<;JC0Fn]+"a !]q?AI!?AEGFHC@] I<rsl>?AEst
a =n?ktqE<?kx<l)aEGFf{\rbaEGFH? 7)aFn?A]qE;JCnCn]C &;_9ba !q; =@;>jA;JlJFn;>I"FH9s; 7^ s gwCn]qd 7#EbajA]t^-; !X?kl>;>-= 8:9<?k= ?A=#a K ? F 3B
de]qE<]qjk?kFH9s?Al7 ^|p f?kFn9aE]qE l 9<?A` !q]jkF atq;Cn;Jgw;JCn;JE<l>,; F r<=@;>="a=n?kE<tqjk; lJjA]Xl (*=n?ktqEbaj
FH]l>]qEGFHC@]qjZ? FH= `<?A`;>jk?AE<;JI&l>]E !;>C@=n?A]EaCnl 9<? FH;>lmFHr<C@'; 8:9<;Is?Atq? F ajD]qrsFn`<rsF ?k=_`<C@;>=@;>EGFH;JI?kE
=@FnCHa?ktq9GF K ?AE<aC L gw]qCndaF f? FH9OFH9<; K ? FH=f?AEO`<aCHajkjA;Jj ?AEsl>; FH9<;z"
] !q;JCHajkjl>]q=cF#]giFH9s;z= L =@FH;Jd ?A=faE.?Ade` ]C@F aE\Fy?A=n=@r<;zaI<I<C@;>=@=n;>I?AEOFH9<?k= Z]qC (
0;.9<"
a !;FH]`]q?AEGF ]rsF FH9baTF+a"jA;J=n= ; `;>E<=@? !; 7 ^|p l>aE K ;Ors=n;>I6?AEax<EbajZ`sCn]XI<r<lJF+? g
0;ers=n;ejA;>=@= K ?kFn=|aEC|l>]E !;>C@=n?A]E CnaFH,; "] Z; !q;JC 0;+l>]qEs=n?AIs;>C FH9baTF FH9<?k= 7^|p
?A=_a"tq]X] Il 9s]q?AlJ;!gw]qC a"`sCn]Fn]F L ` ; K ;>l>ar<=@;O?kF `;>C@d? FH=zFH]"=cFHrCn;JEGF
Cn;J=n]qjkrsFH?k]qE<=zaE<IFH].; `<jk]qCn; Fn9<;`]q=@=n? K ?AjA? F L ]gy=Had`<jk?AE<tFn9<;el>r<C@Cn;>EGFn= aFzI<? v;JCn;>EGF|FH?kd;
?AEs=@F aE\Fn=f?AEOFH9<;zB 4` ;JCn?A]XI ; !q;JE"] !q;JCn=Had`<jk?AE<teaEsI a !;>CHatq?AE<t Fn]C@;>I<r<lJ; Es]q?A=@'; 8:9<; lJr<CnC@;>EGFy`sCn] K ;>=`<Cn"] !X?AIs; azl>r<C@Cn;>EGF0]qrsFn`<rsF 3 `<C@]q` ]C@FH?k]qEbaj FH]|FH9<; `<9ba=@; lJr<CnC@;>EGF
; (
3 =nr<l 9 FH9baF 3 3 7 q
C@;>=@?A=@Fn]qCOl>]E !;>CcFH= Fn9<?A=lJr<CnC@;>EGF Fn]a !]qjkFHatq'
f9<?kl 9%?A= FH9s;?AEs`<rsFe]g ]qrsC K ]GaC@I w=n;>; 7 `<`;>EsI<? h gw]qCeI<;JFHa?Ajk=+]g Fn9<;lJr<CnC@;>EGF`<C@] K ;
I<;J=n?AtE ?AE<lJ; FH9<;e`<9ba=@;lJr<CnC@;>EGF 9<a=_ajA?kd? F]g [ _ FH9s; !]qjkFHatq; ( ?A=|jA?kd? FH;>I K\L
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8:9<;e7^ Z]qC (\;= f?kFn9 a=@?AE<tjA; ` "] 0;>Cz=nr<`s`<j L Fn9<;>C@;Jgw]qC@; 0;+E<;>;JIa=n?ktqEbaj

>l ]E<I<?kFn?A]qEs?AE<t=@FHatq;eFH]"aIba`sF FH9<;?AE<`<r F ( FH]a.=nr<? F a K jA;eCHaE<t;egw]qC|FH9s;!7^|p ;!=n;mF
FH9s;!]qjkFHatq;:C@;Jgw;>C@;>E<lJ; FH] | Fn9<;fd?kI<I<jA; `]q?AEGFi]g Fn9<;f` ]"0;>C=nr<`s`<j L Fn] 9<a"!;
a= L ded;mFHC@?Al =@`baE 8:9<; l>]qE !;>Cn=@?A]qE CHaE<tq; ?A=#FH9<;JCn;Jgw]Cn; 7#=|al>]qEs=n;>{\r<;JE<l>; 0;
E<;J;>I Fn]Cn;>Isr<l>;+FH9<;e?AEs`<rsF ( FH]Ox<Fz?kE\Fn]OFH9<?k=zCnaE<tq; ?AEGFHC@] I<rsl>?AEsta.tGa?AE]g q ?AEFH9s;
=n?ktqEbajvl>]qE<Is?kFH?k]qE<?kE<t =@FHatq,; 8:9<; 7^ 9ba= F 0]_aE<ajA]qt ?kE<`<rsFn= aEC ;>EGFn?uaj?AEs`<rsF <? '; FH9<; aEbajk]q9t !]qjkFHatq;:FH] K ; l>]qE !;>C@Fn;>I?A= 8:9<?A=?Ade`<jA?k;>=
FH9<aFD]qE<;:]gFH9s;#aEbajA]t?AE<`srsFH=Dd r<=cF K ; (;>`sF0l>]E<=@FHaEGF ;>{\rbaj<Fn] f9<?Ajk;ZFH9s; ]FH9<;JC
?A=ygw;JI KGL Fn9<;|I<;>=@?ACn;JI=@?AtqEbajo`<jArs=fa^|p*l>]qde`]qE<;>EGF ;>{\rbajFn] E.Fn9<?A= Za LK ]Fn9
?AEs`<rsFH=+aCn;O?AEFn9<;OCHaE<tq;O]gfFH9s;O` "] 0;>C+=nr<`s`<j L FH] aE;JjA=:FH9<;z^|p5l>]qde` ]E<;>EGF 71I<;JFHa?Ajk;>I=nl 9<;Jd!aTFH?Al ]giFH9s;z=@?AtqE<ajol>]E<I<?kFn?A]qEs?AE<t =cF at; aE<I.Fn9<;|7^|p5l>]qEsx<tqr<CHaTFH?A]E
?A=0=n9<"] fEO?kE 5i?At 8:9<;Is;>=n?ktqE!gw]qjkjA"] f=DFH9<;tr<?AI<;JjA?kE<;>=Dgw]qr<E<IO?kEFn9<;IbaFHa=n9s;>;JFn=:]gFH9s;
7^ 8
1K
AD9240
.1
2K
33
Vcp
VINB
CML
.1
CAPT
1K
33
2K
VINA
CAPB
10
.1
.1
BIAS
2K
VREF
OTR
10
.1
SENSE
REFCOM
BIT14
BIT1
to
FPGA
clock
from FPGA
CLK
i?ktqr<Cn; & X l 9<;>daFH?kl>=f]gRFH9<;|7 ^|p5lJ]qEsxbtqrsCHaFn?A]qE
5

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FH9s;z`"] Z;JCf=nr<`<`sj L CnaE< tq;,D8:9<;|I<? ;>C@;>EGFH?Aajv?kE<`<rsFf?k= ( a=:I<;J=n?kCn;>I &;zr<=@; FH9s;z]` ;JCHaFn?A]qEbajade`<jA? xb;>C@=:7^ ajA=@] gwCn]qd 7#Ebajk]qte^;-!X?AlJ;>= K ;>l)ar<=n;z]g
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]gFH9<;+?kE<`<rsF a= L dde;JFnCn?Al `] 0;>C|=@r<`<`<j L ?A= E<;J;>I<;JI aE; FH9s;e7 ^ ?k=|a
CHa?Aj FH,] CHa?kjade`<jA? xb;>C ?kFy?A=:tqrbaCHaEGFH;J;>I.FH9baFfEs]e=naFHrsCHaFn?A]qE]gRFH9<;|=@?AtqEbaj f?Ajkjv9ba`s` ;JE 8:9<;z?AE<`<r F:gwCn]qd Fn9<;|l>r<C@Cn;JE\F#`<C@] K ;J=f?A=fa !a?AjAa K jA; aF ]qE<; `<?AEO9<;>aI<;JC#lJ]qE<E<;JlJFH]C
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l>?kCnlJr<?kF Fn9baFz?A=|E<;J;>I<;JI ? ;, FH9s;eFHa= (\=|FH9baF|Fn9<;>5iB 7 f?Ajkji`;>C@gw]Cnd48:9<; K a=@?Al F a= (\=
FH9<aF Z;zl>]qEs=n?AIs;>Cn;JI ?kd`]qCcF aEGFyFn] K ;|?Ade`<jA;Jd;JE\Fn;>I?AEOFn9<;95 B 7 aC@;|Fn9<;zB tq;JE<;>C
aFn?A]qEaEsI Fn9<; = L E<l 9<C@]qE<? 7)aFn?A]qE ]gFH9<;+IbaFHaal>{\r<?k=n?kFn?A]qE _8:9<;+juaCntq;JCFH9<; 5 B 7 de]qCn;
l>]d`<r F aFn?A]qEbaj Z]C (l)aE K ;eI<]qEs; aEC@;Jgw]qC@;!de]qCn;+`<C@] lJ;>=@=n]qC l L l>jk;>=zl)aE K ;+gwCn;J;>I
gwCn]d FH9s; ^ B &;Z=n;>jk;>lmFH;>IehD6B 5 qs s gwC@]qd17 jkFn;>Cna i8:9<?k%= 5 B 7 K ;>jk]qE<tq=RFH]FH9s; 5%0h qq gVade?Aj Lq
ajA"] lJ]q=@Faj FH;>C@EbaFn? !q;Fn] 9s?Atq9 <!q]qjkr<de;tGaFn; aCnCHa L =eI<;>=@?AtqE<-= 8:9<; hD6B 5 qs l>]E\FHa?AEs=
s qq tGaFn;>=!aCnCnaE<tq;JI?AE q G 0]tq?Al>ajfhjA;>de;>EGFn= &;.=n;JjA;JlJFH;JIFH9s; `<?kE8 5 B
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8 0 ] , K ? F:?AEs`<rsFH= aEsI.]E<;|l>jA]Xl (]qr FH`<rsF#aC@; r<=n;JI Fn]e?kEGFH;>CcgVal>;f? FH9OFH9<;|7 ^|pZ=
7 K ? F]qrsFn`<rsF|l>aCnC@?A;>=#FH9<;+B = f? FHl 9<?kE<t=n?AtEbajA= gw]qC Fn9<; ?AE!q;JC@Fn;>CV]E<; =n?ktqEbaj
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FH9s;zlJ?AC@l>r<? F 8:9<; l>]qEsx<tqr<CHaTFH?A]E]gFH9s;5 B 75?A=Dd!aI<; !X?ua FH9<;.2 L FH;2Zjua=@FH;JC0l>a K jk;fgwC@]qd azBp9<]q=cF
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h*t
Speed step response: floating−point(solid) and fixed−point(dashed)
600
500
ω(rad/s)
400
300
200
100
0
0
0.1
0.2
0.3
0.4
t(s)
0.5
0.6
0.7
0.8
detail
503
502
ω(rad/s)
501
500
499
498
497
0.7
0.71
0.72
0.73
0.74
0.75
t(s)
0.76
0.77
0.78
0.79
0.8
. $'& M. %V3a'T"#$%V*U%
. .0y":!/+ 'A.94;:?92%V.0"`*@ %V3+c#$Rb+T+-F#$%/+-R!/+T#/R "#$+*1U@!/"4 %V
t
h
2
"
t
t
!
%V*! :+I2@
. ?9U7%V.9<y2&R ".9U%a=*+-!$#/.9*{.9#P#/3 .9 #/"?0.9F * F 86<+TF8&R "0. %P="+T!/#/.0"{.0#
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1
3
9
.
0
?
G
+
V
%
<
3
+
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h"h8E h &
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h8
Floating−point position error
0.15
∆θ (rad)
0.1
0.05
0
−0.05
0
0.1
0.2
0.3
0.4
t(s)
0.5
0.6
0.7
0.8
0.6
0.7
0.8
Fixed−point position error
0.15
∆θ (rad)
0.1
0.05
0
−0.05
0
0.1
0.2
0.3
0.4
t(s)
0.5
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%V3<+I'-:<!/!/+TU%*F +6% N @ R +-!$.9F 1 2F %V3<+I#V245R?0+-# @!/"4 %/3+M;<?>,#;2%`%V3<+I+-<F{*@
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adca
dspd
adcb
ioms,rd,wr
regs
irq
pwm_sig
rst
position
pwmcntr
clk
clkout
%2
. .9y*:!/+ 'C ?9'de F.X2y"!V*4 *@\%V3+ .N x ;mF+-#$.9y" h W 3+`.9U%V+T!$@*'T+ ^ +T% +-+TY%/3+-#$+ ^ ?08'de # .9#}=*+-! #$.94NR?9+ ' '-*4545*F# ^
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^ :#$+-#T1S*# +-?0? *# '-"U%/!/"? #/.0y"S*?0#-1*!/+O:#/+TFr%VGF<+-'-F+_%/3+ ( !$+)*FI"! !$.0%V+O"R +-!V7%V.9*#
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+ h
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# 'd3<!/"*:#OR<!/'-+-#$# HW 3+ '-":< %/+-!rF+-'T!/+-*#/+T#a2% +-*'d3Y'T?9'deI' 'T?9+ : 3+-g.0%}!$+)*'d3<+-#
^
L-+T!/r%V3<.9#a4N+)*<#_%V3S7% r#$%V+TR 3S*#+-<F+-Fp*F~%/3+-!$+T@"!$+ +T =2*?9:+G.9#a?0U*F+TF%V +-y".0
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%V3<+;F:!/2%V.0"k*@ %/3+;F+-*F ^ 2F aW 3+GF+)*F ^ *F *!OF+-*F<%/.94N+ .0#aI#$3"!|%_%V.045+`.9U%/+-!$=2*?
.0 ":<!P'-*#/+21 &n .9#$+-!$%/+-F ^ +T% +-+T{%,~F<./)b+-!/+TU%G#| .0%V'd3<.9yY'-"4 ^ .9S2%/.9"<#`2@c%V3+5.98&
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'-*45R?0+-4N+-U%d2! % * ' ;_# 'T"#/+ :+-'T+*1l.9<#$%V+-*F~*@ #$: ^ .0 %/+-!|=*2?9#a.0~ N @qRb+T!/.9F 1
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'-*:U%V+-!.9#}!$+-#$+T%O*FY4
05 7685r#$.9y"*? .9#}.0#/#$:+-F W 3+-!$+O.0# # 'd3!$"":<# !$+-#/+%H#/.9y*S*?8 3<.9'd3N.9.M%V.X2?9. LT+-#\*?0?8=2*!/.9 ^ ?0+-# \W 3.0#H!$+-#$+T%H#/.0y"S*?
.9#}'T"4N4I*<F+-F Û %V3+ ^ ?9'deI 3+- %V3<+ N @ y"+-+T!V2%/.9" .0#}#$%V*RRb+TF . .9y h +;R!$+-#$+-U%a%V3<+;!/+T#/:?M%V#_2@HI#/.04;:?X7%V.9*g2@Q%V3.0# ^ ?08'de 1b#/3 .9<yI%V3+`S!/#|%
#$%/+-Ro2@ %/+-!!$+-#/+%)1 *F{%/3
+ 5 !9 ${#/.9y*S*?,y*+-+T!V2%/.9" . .0y h ,+r#$3 3S7%
3S*R<Rb+T# 3+-N%V3+ ?X2#$%#$%/+-RN.9#QS<.9#/3<+-F 1 .9RS2!$%V.0'-:?9*!w%/3+ y"+-<+-!V7%V.9*N2@b%/3+:05 0768$
+ h"h
#/.0y"S*? 250.0ns
Name:
500.0ns
750.0ns
1.0us
[I] clk
[I] rst
0006
[I] new_time
[B] cnt
0000
[O]step
0
0006
0005
0004
0009
0003
0002
0001
0000
0006
0005
1
0004
2
[O]new_period
[O]new_step
^
. .0y":!/+ 'A8.94;:<?X2%/.9" 2@w%/3+ N @ '-*:U%V+-! ?08'de' !/+T#/+%a*<F !/#$%#|%V+-R h
7.0us
Name:
7.25us
7.5us
7.75us
8.0us
8.25us
8.5us
[I] clk
[I] rst
0005
[I] new_time
-
[B] cnt
0002 0001 0000 0005 0004 0003 0002 0001 0000 0005 0004 0003 0002 0001 0000 0005 0004
A
[O]step
B
0
1
[O]new_period
[O]new_step
. .0y":!$+
h 'A8.94;:<?X2%/.9"5*@w%/3+ N @ '-*:U%V+-! ^ ?08'de' ?X2#$% #$%/+-R W 3 +P!/+-y*.9#$%/+-!$# ^ ?08'der.0#O.045R?0+-4N+-U%V+TFY.0Y%/3+40!+1g?9+ W 3+P4I2.9 @:'T%/.9"<#O*@ %V3.0#
^ ?08'deN*!$+O%V3<+_.9U%/+-!$@2'-+O .M%V3N%V3+ <?A N 1 %V3+O#/.9y*S*? *' :.0#/.M%V.9* *F5%V3+Oy"+-+T!V2%/.9"5*@ %V3<+
^
N @ #$.9y"*?9# *'T'-"!$F.9<y%/%V3+ #$%/+-RY:<4 +T! . .9y h +P#$3>%V3<+`!$+-y".0#$%/+-!/# .0#/.0F+a%V3.0# ^ ?9'de W 3+-!$+P.0#}"+ ^ *<e *@w!/+-y*.9#$%/+-!$#
%V #|%V"!$+%/3+}%V.94N+cF:<!V2%/.9"*@ +)*'d3N#/: ^ .9U%V+T!$=2*? R?9:<#%/3+ F+)2F ^ *FN*@b%V3+ '-:<!/!/+TU% N @
R +-!/.08F 1_2Fz"<+ ^ *e{@"!%V3<+g%/.94N+ =*2?9:+T#N2@_%V3<+Y+ 6%IR +-!$.9F
{W 3<+-!/+r.0#G"<+ ^ *ep*@ !/+Ty".9#|%V+T!/#;%Vk#$%V*!/+ %V3<+ N @ =*+-'%V"!$#;%V ^ +
:#$+-F].9{+-*'d3]#/: ^ .9U%V+T!$=2*? +-y".0#$%V+T! !9 #|%V"!$+-#;%V3<+r#$%d7%V:#;2@%/3+ # #|%V+T4
+ h
#|%V"R "!!$:.0y 1 !/+Ty".9#|%V+-! #$%/"!/+T#a%V3++T#$%V.04I7%V+-F R "#/.M%V.0"*@%V3<+#/3S2@ %-1l*F !/+Ty".9#|%V+T!
8 g#|%V"!$+-#_%/3+*'%V:S*? N @
#/.0y"S*?0#%/3S2%_*!/+ ^ +T.9y #$+-U%a%/I%V3+P.9U="+T!$%/+-! . .9S2?9? 1
%V3<+ '-:!$!/+T %;45+-*#/:!$+-4N+-U%V#;2%G%/3+ +-<F{*@ +)2'd3 #/: ^ .0U%V+-!|=2*?c*!$+I#|%V"!$+-F{%V+T45R "!/*!/.0? .0
"+ ^ *e 7 0 0 0 *F 2%c%/3+a+TF *@ %V3+ N @ R +-!$.9F
'-*R.9+TF %/I2*%V3<+-! ^ *<e 0 7 7 0 tt1
v1
t1
v2
t2
v3
t3
v4
t4
v5
t5
v6
t6
tt2
tt3
tt4
tt5
tt6
ttdb
tdb
tadca1 tadcb1
sta
p
pwm_out
adca1
adcb1
adca2
adcb2
adca3
adcb3
adca4
adcb4
adca5
adcb5
adca6
adcb6
tadca2 tadcb2
tadca3 tadcb3
tadca4 tadcb4
tadca5 tadcb5
tadca6 tadcb6
regs
. .0y":!$+
h ' %/+-!$S*? !/+Ty".9#|%V+T!/# $
^
< A N
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F+T'-F.9y5%V3+2RR!/*R!/.92%V+P'-"U%V!$"?\#/.9y*S*?9# aW 3+ 68 ! k#/.9y*S*?\.9#a2#/#/+T!$%/+-F Û %/3 + <?A N
+ h
3 +T * ( *'-'T+-#$#}.9# ^ +T.9y;F<"+ : %V3+_#/.9y*S*?9# I*F 5F.0#$%/.9y":<.9#/3IP !/.M%V+@!/"4
!/+-*FY*Rb+T!V2%/.9" W 3+ !/.M%V+a"R +-!/2%V.0" .0#c.94NR?9+T45+TU%V+-FI.9 ;R!$8'T+-#/#} 3*#/+ #/+T#/.M%V.0=*+?9.0#$%c.0'-?0:F+T# 7!
68 ! ( %V3+N!/.0#/.9<yY+TFy"+I2@c%V3.0#P#$.9y"*?1\*{.0U%V+-!$S*?!/+Ty".9#|%V+T!P.0#P?0U*F+TF
F+TRb+TF.9<yg*%V3+*F<F!/+T#/# GW 3+="+-'%V"!$# ')* "? k^ +?9"*F+-Fk.0@%V3+#|%d2%/:#.9# t #$%/"R :
%V3<.9#4N+)*#%/3S2%)1 @"!#$+-'T:!/.M% !/+)2#/"#T1 %/3+r="+-'%V"!$#5'-* D % ^ +r'd3S2y"+-Fo 3.9?0+ %V3+ *!$+
^ +-.9<y5":8%VR:<% %/N%/3+P.0U="+-!|%V+T! YN<"!/45*? "R +-!/2%V.0"r%V3+ ,":<?9F ^ +`?9U2F+-F "? "'T+
2% %V3<+ ^ +-y".0.0yg*Fp+T=*+-!G'd3*y"+TF W 3+N%V.94N+F:!/2%V.0" *@,%/3+N#/: ^ .0U%V+-!|=2*?9# ')2 ^ +
?9"*F+-Fg* %/.94N+_" %V3<+a%V+-4NR "!V*?b!/+Ty".9#|%V+-!$# #/%V3S7%}%V3+ N @ R +-!$.9F %V3S7% .9#}'-:<!/!/+TU%V?
!/:<.9<yr.9#a2% )b+-'T%/+-F ;c%%V3+G+-Fp*@ %V3<+Rb+T!/.9F 1 %/3+;%V+T45R "!/*?w!$+-y".0#$%/+-!/# 2!/+;'T"R.9+TF
%V %V3<+I*'%V:S2?H*+-#T1w 3.0'd3{*!$+N:<#/+-F %Vgy"+-+T!V2%/+N%/3+N+6% N @ Rb+T!/.9F . .9*?9? 1 %V3<+
#$%V2%V:<#O2FYR "#$.0%V.0"r!/+Ty".9#|%V+T!/# ')* ^ + !/.0%$%V+Tk2%2 %V.94N+ W 3+`!/+)2FY"R +-!/2%V.0"r.9#}.045R<?9+-4N+-U%/+-F .0%/3g%/!/.9#|%d2%/+ ^ :)b+-! '-* %/!/"?0?9+TF ^ %/3+ #/.0y"S*?
1\%/3+=2*?9:+ !" k.0#`'T"+T'T%/+-F %/
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t
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" %V3+ !" 5 #/.0y"S*? 2!/+ %V3?
+ ;=<?> =2*?9:+T# #V*4NR?0+-Fg2% %V3+`+-<Fk*@w+)*'d3k#/: ^ .0U%V+-!|=2*? *@
%V3<+R!/+=8.0":# N @qR +-!/.08F "!_%/3+;#|%d2%/:#-1 F+TRb+TF.0y "%V3+;*FF!$+-#/# ^ :<#_=2*?9:+ W 3+

;=<?> =2*?0:+-#;*!/+N%V!V2#$@"!$45+TF{.9p%V3+5@"?9?0n .0y c 'N%/3O
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*RR<!/"R!$.X2%/+#/')2?9.9<y #/+T+ n \W 3+c2FF!/+T#/#$+-#Q*@8%V3+H!/+Ty".9#|%V+T!/#w*!/+H#/:4N45*!/. L-+-F .0 W ^ ?0+
h ( <? %/3+H@*:!l?9+-#$#w#$.9y"<.0S'-*U% ^ .0%V#l*@8%V3+ *FF<!/+-#$# ^ :<# *!$+ :<#/+-FP.9 %V3+HF+T'-F.0S'-2%V.0" W 3+_.0U%V+-!$!/:R8%,!$+ :+-#|%}#/.0y"S*? 69 N.0#%/3+.9U="+T!/#/+_*@ %/3+ 5 768$#/.0y"S*? N%V3.0#
, 1Q2%`%V3<+5+TF *@} N @ R +-!$.9F 69 .0?9?Qy" %V L-+T!/Y@*!`*+5'T?9'de~' '-?0+ : %/3.9# .0#
+-<":y"3 ^ +T')*:<#/+ %V3+ .9U%/+-!/!$:R<%/.9"r%V32%},+P*!$+:#/.0y.9r%V3+ <?A N .9#}+-F<y"+ #/+-<#/.0%/.0=*+ + *FF!$+-#$# !/.M%V+
t 33
3
3
3
h 33
!9
3
!3
3<
;_3
C,3
>,3
<a3
3
. 3
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0 0 0 0 0 0 !9
0 0 0 0 0 0 *FF<!/+-#$#/+T# h h +k#$3 #$.94;:?92%V.0"{ 3+T!/+Y%/3+B<?A N ^ /! +)2F#5%/3+ ;<?> =2*?9:<+-#@!/"4
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+ *FF+TFp#$r%V3S2%_%V3+;F2%d .0#
!/+-*F *g%/3+ !/.9#$.9y+TFy"+ *\@ %V3+ !$+)*Fg#/.0y"S*? . .0y "
W 3 + N @ #/.9y*S*?9#,*!/+y*+-+T!V2%/+-Fr@!/"4 %V3<+a="+-'%V"! !$+-y".0#$%V+T!/# *<F %V3+#|%V+-R :4 ^ +-! W 3+
+T=*+- #$%V+TR#g'-"!$!/+-#$Rb*F %/]F+)*F ^ *F .9U%V+T!$=2*?9#T1OF<:!/.0y 3.9'd3 ?9"y".0')*?;<*@`%V3<+
R!$+T=.9":<#*F;%V3<+}+6% ="+T'T%/"!/#.9# ":<%VR<:<%Q%Va%/3+}.9U=*+-!$%/+-! : %/3.9# "Rb+T!V2%/.9"Gy":S*!/*U%V+-+T#Q%V3S7%
%V3<"#/+ #| .0%/'d3+-#;%/3S2%;'d3*y"+ @!$"4 "+ #$: ^ .9U%/+-!$=2*?H%Vk%/3+ + 6%)1 F:!$.9yY%V3+ F<+)*F ^ *F
.9?0? ^ +;@"!$'-+-F~%/ * ( .. #$%V2%V+ GW 3+ N @ #/.9y*S*? .0#_%V3<+-!/+@"!/+#$+-?0+-'T%/+-Fp*'T'-"!$F.9y %/
W ^ ?9+ h W *'d3.0+T="+g%V3+YF+-#$.9!$+-FzF<:!V2%/.9"]@"!N+)*'d3z#$%V+TR 1,%/3+k":8%VR:<% 5 6 0{.9#:#$+-Fz%/
8.3us
Name:
8.4us
+ h<
8.5us
8.6us
8.7us
8.8us
8.9us
9.0us
9.1us
1
2
3
4
5
8
9
[I] clk
[O]clkout
[I] rst
[I] wr_n
[I] rd_n
[I] ioms_n
0
[I] dspa
A
ZZZZ
[I] dspd
ZZZZ
[O]dspd
0450
E450
2450
D450
1450
F450
0430
E430
0000
[I] adca
0000
[I] adcb
25
[O]pwm_sig
24
5555
[O]position
[O]irq_n
Read ADC values stored from previous period (one wait state assumed)
h h ' A8.94G:?X2%/.9"5*@\%V3+ !/+Ty".9#|%V+T!/# ^ ?9'de'<?A N !$+)*F.0y ;=<?> =*2?9:+T# '-*454;:<.9'-2%V+I%/3+ ^ ?9'de 3.9'd3].9#;%/3+r'-*:U%V+-!=2*?9:<+I%V ^ +r?9U*F<+-F @"!;%V3<+
+ 68%c#$%V+TR W 3+T!/+T@*!/+*1<.9I#|%V+TR t +a":<%/R:<%,%/3+_!$+-y".0#$%/+-!,'T"!/!$+-#$Rb"<F.9y`%V;#$: ^ .0 %/+-!|=*2? 1
.9 #|%V+-R %V3+ !/+Ty".9#|%V+T!}'-"!$!/+-#$Rb*F.9<y%/5F<+)*F ^ *F 1 *<FY#$5" . .9y h +#/3<n I#$.94;:<?X2%/.9"r 3+T!/+;%V3<+ <?A N !/.M%V+T#I'-*4545*Fg%VI#|%d*!|%a%V3<+

^
N @ y"+-+T!V2%/.9" ;O@ %V+T!}"+aR +-!$.9FrF+-?9 1SG=*+-'T%/"! '-"!$!/+T#/R "F.0y;%V;%/3+F+)2F *F .0#
":<%/R:<%c@*!,"+_Rb+T!/.9F 18*F <+6%}%V3+OS!/#|%c="+T'T%V*!}.9#,*:<%VR:8%c@"! %/3+a'T"!/!$+-#/R "F<.9yG%/.94N+ . .9y":!$+
"
W 3+}#$.9y"S2?*':<.9#/.M%V.0" ^ +-?9*y"# %/a%V3+}# <'d3!/"<":#HR!/'-+T#/# Q 3<+-%V3+ 5 !9#$#/.0y"S*?
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'-*!/!/+T#/R "F#Q%/_%V3<+c+-F*@S%/3+,S!$#$% #$: ^ .0 %/+-!|=*2? : 3+TN#|%V+TR.9# 17%Va%/3+c+-<F*@ %V3+c#$+-'T"F
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*F5%V3+Tr*?9?S%/+-4NRb"!/*! !$+-y".0#$%/+-!/#,*!/+'-*R.9+TFI%V`%V3+OF+TS<.0%V.M="+ ^ *e 18 3<+-!/+O%V3+ .0?9? ^ +
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t
+ #$: ^ .9U%/+-!$=2*? N @ =*+-'T%/"!
< C
< C
< C
!
h
<
t
< C
< C
< hC
t
" W ^ ?9+ h ' N @ #/.0y"S*? *y +-+T!V2%/.9"g*'T'-"!$F.9y%/%/3+ #$%/+-Rk :4 ^ +T!

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'-*!/!/+T#/R "F# %V%/3+`*S*?0"y;=2*?9:+2@w%/3+ '-:!$!/+-U%@":!}'T?9'de Rb+T!/.08F# ^ +T@*!/+ . + 1 E &7 W 3+ S ?9+T#Q,+T!/+'-"4NR.0?9+-F@"!2&;O?0%/+-!V N. t< 'd3<.9R RS*'de7*y*+ W > " 2F5#$Rb+T+-F5y"!V*F<+
& " 1 :<#/.9<yk%V3+5#/*@ %,*!$+O@k76 N ?9:# 7 W 3<+I%V*%V*?*@ ?9*y".9''-+T?9?0#G*<F ( R.9<#G:#$+-F]*!$+
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#/.04;:?92%V.0"# +-!$+P#$3 k.0 %/3+ R!/+=.9":# #$+-'T%/.9"<# ( + *@ %V3+ ^ .0y *F<=2*U%d2y"+-#*@ R!$"y"!V24545 ^ ?0+ ?0"y".9' .9#Q.M%V# 9S+ 68. ^ .0?9.0% .0;%V3+}R.0N*#/#$.9y"8&
4N+-U%)1 3<.9'd3 4I2e*+;.M%aR "#/#$. ^ ?0+G%V #$.94NR?9.M@ %V3+ N > CmF+T#/.9y* . *!O%V3<.9#a!$+)*#$" 1 %/3+R.9<#
+-!/+G*#/#$.9y"<+-F~*'T'-"!$F.9<yN%/5%V3<+GR.0YF.0#$%/!/. ^ :<%V.0"Y2@ %V3<+G*%/3+-!'d3.9R<#a*Fg%V3+T.9!Rb*#/.0%/.9"
.9r%/3+ N > C .0%/3 !/+-#$Rb+T'T%%V%V3<+ .N x ; + 4 < + 'T8F+ 2F F+-#$+-!|="+ *
W 3+-!$+p*!/+k@*:!I%V3<.9y"#5%V3S2% ')* ^ +~*%V.0'-+TF .9z%/3
Name:
1.75us
1.8us
+ 1.85us
1.9us
1.95us
2.0us
2.05us
2.1us
2.15us
[I] clk
[O]clkout
[I] rst
[I] wr_n
[I] rd_n
[I] ioms_n
[I] dspa
0
6
[I] dspd
ZZZZ
0001
[O]dspd
ZZZZ
0001
0
ZZZZ
ZZZZ
0000
[I] adca
0000
[I] adcb
00
[O]pwm_sig
09
29
0000
[O]position
[O]irq_n
Hardware Run
resetcommand
Read ADC values stored from previous period (one wait state as
h ' A8.04;:?X7%V.9*I*@\%V3+ !$+-y".0#$%V+T!/# ^ ?08'de' $# %V*!$%*@\%V3<+ N @ y"+-+T!V2%/.9" +68R?9*S2%/.9"'
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* +-!/!$"!`.9 %/3+IF+T#/.0y"{*@c%/3+ N > C,' ^ .0% .0 %V3<+M;=<?>,#G.9# %V3+545"#|%;#$.9y".MS')2 %
^ .M% @BA+C 2F~.0%c2# *#/#$:45+TF~%V ^ +G%V3<+;?9+-*#$%_#/.9y*.0S'-*U% +A6C %V3+T!/+T@*!/+;%V3<+
:
.0R:<%/# 0 I*<F 0 r +-!/+ .0 =*+-!|%V+-Fg.9U%/#/.9y*S*?9# 0 r*F 0 #I!/+-#$Rb+T'T%/.0="+T? @":<! *FF.M%V.9*S*? .0R:<%/# 6 (6 (6 6 +-!$+I*F<F+-Fp%Vr%V3+F+T#/.0y"
^ +-'-*:#/+H*@<*P*'-'T.9F+T %V*?U#/3<"!$%/'-:<%\*@8'-"!$!/+T#/R "F.0yOR<.9#lF:!$.9y 45* :S*?"#$"?9F<+-!/.0y
:
^
^
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g
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%V3<.9#_F<+-#/.0y"~')2 ^ +;+-*#/.0? .94NR?0+-4N+-U%V+TFk.9k*%V3+T!aR?92%/@"!$45#T1b?0.9e2+G*%/3+-! .N x ; 'd3<.9R#a*!
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300
200
100
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0.2
0.3
0.4
0.5
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0.8
0.9
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1.2
1
0.8
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0.6
0.4
0.2
0
−0.2
−0.4
0
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0.1
0.2
0.3
0.4
0.5
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0.6
0.7
0.8
0.9
1
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700
600
500
ω(rad/s)
400
300
200
100
0
0
0.1
0.2
0.3
0.4
0.5
t(s)
0.6
0.7
0.8
0.9
1
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Position estimation error in the speed step experiment
1.2
1
0.8
∆θ (rad)
0.6
0.4
0.2
0
−0.2
−0.4
0
0.1
0.2
0.3
0.4
0.5
t(s)
0.6
0.7
0.8
0.9
1
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250
200
ω(rad/s)
150
100
50
0
0
0.1
0.2
0.3
0.4
0.5
t(s)
0.6
0.7
0.8
0.9
1
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Position estimation error in the torque step experiment
0.4
0.3
0.2
∆θ (rad)
0.1
0
−0.1
−0.2
−0.3
−0.4
. .9y":!$+
0
0.1
0.2
0.3
0.4
0.5
t(s)
0.6
0.7
0.8
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J13
10kohm
VCC
10kohm
5V
15pF
15pF
2
C32
X3
C31
1
18
R25
VCC
5V
R28
VCC
17
Project 1
16
18
of
1
Sheet
Approved by:
1
Date Mar 27, 2001
Checked by:
Designed by:
gabriel
VSS
VCC
-5V
5V
100nF 100nF 100nF 100nF 100nF
C26
ERESET\
RESET\
EMS\
EE
ECLK
ELOUT
ELIN
EINT\
EBR\
BR\
EBG\
BG\
IRQE\
CLKOUT
A0
A1
A2
A3
WR\
RD\
IOMS\
D8
D9
D10
D11
D12
D13
D14
D15
D16
D17
D18
D19
D20
D21
D22
D23
R20..23
4x10K
15
1.0
L
K
J
I
H
G
F
E
D
C
B
A
Size C
O
DSUB15F
VCC
U3
AVDD1
AVDD2
DVDD
DRVDD
CML
CAPT
CAPB
5V
C9
100nF
100nF
10uF
C14
100nF
100nF
C13
R9
33ohm
7
C7
100nF 100nF
-5V
ADCB0
ADCB1
ADCB2
ADCB3
ADCB4
ADCB5
ADCB6
ADCB7
ADCB8
ADCB9
ADCB10
ADCB11
ADCB12
ADCB13
CLKOUT
ADCA0
ADCA1
ADCA2
ADCA3
ADCA4
ADCA5
ADCA6
ADCA7
ADCA8
ADCA9
ADCA10
ADCA11
ADCA12
ADCA13
10
O
3
100nF
C12
R8
33ohm
AD8042
U4B
VS+
VS-
VCC
C8
100nF
C5
C10
VCC
CLK
AD9240
C6
AVSS1
AVSS2
DVSS
DRVSS
BIT1
BIT2
BIT3
BIT4
BIT5
BIT6
BIT7
BIT8
BIT9
BIT10
BIT11
BIT12
BIT13
BIT14
R3
2.0kohm
9
N
2
R14
REFCOM
CML
CAPT
CAPB
BIAS
OTR
100nF
100nF
100nF
10uF
C3
VREF
SENSE
VINB
VINA
AVDD1
AVDD2
DVDD
DRVDD
U2
8
N
1
R12
1.0kohm
33ohm
AD8042
1.0kohm
2.0kohm
5
R13
6
R2
C4
R1
33ohm
7
U1B
VS+
VS-
5V
7
M
0
C11
10uF
R11
2.0kohm
100nF
C1
2.0kohm
R5
5
6
VCC
6
M
L
VCC
R6
1.0kohm
AD8042
1
U4A
VS+
VS-
VSS
10uF
C2
R4
2.0kohm
5
K
5V
3
2
AD8042
1
U1A
VS+
VS-
VCC
-5V
5V
3
2
R7
1.0kohm
4
J
HDR1X8
J2
HDR1X8
J1
VSS
3
I
H
G
F
E
D
C
-5V
2
VCCINT
VCCINT1
VCCINT2
VCCINT3
B
1
VCCIO
VCCIO1
VCCIO2
VCCIO3
VCCIO4
VCCIO5
VCCIO6
VCCIO7
GND
GND1
GND2
GND3
GND4
GND5
GND6
GND7
A
0
= =
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= =
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01010105014701016980101201:901Y 01301;=<010101010101010101010102010101020101030101010201010201010102010102010101030101020101010
010100543D698A?2PB:?Q [>2]@BBACRT; S6ETDE8FMS Y DG4?HBI @J;G@ 8 ; D A3:B@3;1;LK DE82H A D :5M2A DGN A O<
0101050101U01G01V201A01016 01@201:?0101W 016 01A201@ 01 010101XG01Y 018 01@Z0201R101[101[T02S 0101030101010201010201010102010102010101030101020101010
0101010 0101K 01DE80101; H0101 8201H0101; 0101010101010101010102010101020101030101010201010201010102010102010101030101020101010
0101010101010101010101010101010101010101010102010101020101030101010201010201010102010102010101030101020101010
01010L0547698_6986OH72:J6 2:J;`M3@1;`M3@B^Z@1@B^JA2@ 4A2@B@ A24 @@B8A2@KG8@bKG@bac[B\2acR[B\4gBgW1Bd2W1d2e1[1e1[B[BAABB^^ 00 ;3;3ff
]1]101^2^20 @@ 4747@B\B696988M3@@@BA DD6 <7<7<7@@@ 82NN HBBA2A2@@K 44DERL8S; H[B[B\2\282R[ HggBB; WW
010 ]1^2@ 47698 @ D <7@ N BA2@ 4 RJ[B\2[B4W g 010547698 2:J;`M3@1@B^ZA2@ 4 @BA2@ 8 KG@bac[B\2[B4W gBd2R1[1[BA B^ 0 ;3f
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010100 KS D0BYn 822HK`M;iH M1M3gE@B<AZ4 AjBQ2W1PBQ m^2@GM3@ 8 ^C; DE8 jBQ2W1PBQ 8 ^?j2l2j
]1]1^2^2@@ 4747696988 @L@LK`K`MM HH ^2S @DBnB^F[B\7[B\2S [1Q[TS
010L698_6OH76 2: HBI1I H
]1^2@ 47698 @ HBI1I H7698_6 [B\ n 4P gBW
010100 ;ES o10 AR H0 ;Eafo1g A0 HRTfacRT0 Rf
]1]101^2^20i@@ 84747YE6969<788 @L@L@BA ;EK6 8A4KJgS DDK R;EDEA28D R;E; A2HD RLRL 82H[B[B\\2; RGQW n RS
010100 ;ES o10 A;EHo1A acHRTffa gT0 Rf
]1]1^2^2@@ 4747696988 @L@L;EK 8A2RS DD RJ;E4A gL[B\2eB[B!P\ 1RBW2h
010100 ;ES o10 AR H fa gTf 0 R
]1]1^2^2@@ 4747696988 @L@LK;E84A gS DD RJRJ[B[B\\ n WB[1Q2[1P[
010100 ;ES o10 A;Eo1H A acHRTfa n0Bnf
]1]1^2^2@@ 4747696988 @L@LK;E8A2RS DDBn;EA n[B\7[BSOW24\ Rg d S
010 S 0Bn
]1^2@ 47698 @LK 8 S DBn [B\7Sè1e1e
0]11^20?@ 47D VT698;G@@BA1>2N @BO<1A)(< TK DS5@ 41[B47\2[16 l1K h6 d@ 82H ;
010100 ^2^2@G@GM3M3@@ 88 ^C^C;; DEDE88 jj]]^1^1kk
]1]1^2^2@@ 4747696988 @@ NN OO<1<1<((< 1RJgJ[B[B\2\2[1e eg 4d
010100 ^2^2@G@GM3M3@@ 88 ^C^C;; DEDE88 jj ]]^1^1kk
]1]1^2^2@@ 4747696988 *@@L3;`MTK1KK DD @@ 414144 [B[B\2\2[1[BW1[1PR d
010 ^2@GM3@ 8 ^C; DE8 j ]^1k
"!$#%&
1]]101^2^20 @@ 4747K DE69698882H@Z@ZA D@B@BA1A1:1A7A7:B@BSGSGA.KK DD @@K 4141D 4743@ D416982Y47HH 6 K [B[B6 @\7\282R1S1HR1S@d2e; R 010100 ^2^2@G@GM3M3@@ 88 ^C^C;; DEDE88 jj]]^1^1kk mmj2j2ll22j*j* 88 ^^44d
d
'' [[
]1]101^2^20 ]1@@ ^24747@69698847@Z@Z698 @@B@BA1A1A2A26982R3R3HKK DDSG@@K 4141D 4743@ 41D6982Y4 HH [B\[B[B\2\2n Q3[1R)[1(hTdeTS dS 010101000 ^2^2^2@G@G@GM3M3M3@@@ 888 ^C^C^C;;; DEDEDE888 jjj]]]^1^1^1kkk mmmj2j2j2lll222j*j*j* 888 ^^^444d
d
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''' [[[
]1]1^2^2@@ 4747696988 @@Z@B6982A14AH R3g3KK DD @@ 41414476982[BH\2R1[1[B[1\2[[ d+* 010100 ^2^2@G@GM3M3@@ 88 ^C^C;; DEDE88 jj]]^1^1kk mmj2j2ll22j*j* 88 ^^44d
d
'' [[
]101^20 ]1@ 47^2@69847@Z698 @@BA14A 69g382HK Dg3@K 41D 43@ D41Y4 H [B\[B\2n Q3R1l1hTeGS Q 010100 ^2^2@G@GM3M3@@ 88 ^C^C;; DEDE88 jj]]^1^1kk mmj2j2ll22j*j* 88 ^^44d
d
'' [[
]1]101^2^20?@@ 4747DGHB696988I @@?@BA)^26 @2:K :DE6 <82
,CH6OHAK DD @:1[B41\2:B4@B[1A))h (1[B[\7K DES9Q38 e; Hn 82H ; 010100 K`K Y2D A1@ A24147@ 826 HK 6 @: 826 <HL6OH43D AZ^2@2:
,LK D A1A2@3K H76EDE8
]1]101^2^20 @@ 4747]^1696988kZ@?@?>2>2>2@3@3@3K H3K3KGRJDS5AC;[B[B\24\ RgTgS
]1]1^2^2@@ 4747696988 @?@?>2>2@3@3K!K gJ[B[B\2\2RB[BPW
]1]1^2^2@@ 4747696988 @?@?>2>2@3@3KGK neJ[B[B\7\7S`S`le
010100 PBPBQ3Q3ll>>22:E:EY3Y3@@ DGDG4)4)66 4343DD ALAL;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:.:JRSFaa 696988 ff
]1]101^2^20L@@ 47476E01696988D @@M MMD A66 HT1RJS5B^1[B[B^1\7\2A2[S @3;1;G@3;
010100 PBPBQ3Q3ll>>22:E:EY3Y3@@ DGDG4)4)66 4343DD ALAL;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:<: g aa 696988 ff
]1]1^2^2@@ 4747696988 @@MM 66 gJ[B[B\24\ Rg
010100 PBPBQ3Q3ll>>22:E:EY3Y3@@ DGDG4)4)66 4343DD ALAL;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:J: ne aa 696988 ff
]1]1^2^2@@ 4747696988 @@MM 66 1 eJn [B[B\\2e
010100 PBPBQ3Q3ll>>22:E:EY3Y3@@ DGDG4)4)66 VV 4343DD ALAL;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:.:JRSFaa 696988 ff
]1]1^2^2@@ 4747696988 @@MM 66 V_V3RJS5[B[B+\\+*(
010100 PBPBQ3Q3ll>>22:E:EY3Y3@@ DGDG4)4)66 VV 4343DD ALAL;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:<: g aa 696988 ff
]1]1^2^2@@ 4747696988 @@MM 66 VV gJ[B[B\1\ Pd
7
4
9
6
8
6
010100 PBPBQ3Q3ll>>22:E:EY3Y3@@ DGDG4)4)66 VV 4343DD ALAL;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:J: ne aa 696988 ff
]1]1^2^2@@ 47698 @@MM 6 V3V neJ[B[B\2\BQl
010100 >2>2@3@3KK H3H3DD AA 4343DD AFAF;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:.:JRSLaa DD YY HH ff
]1]1^2^2@@ 4747696988 @@M2M2>7>2RZSi[B[B\2\7[S
010100 >2>2@3@3KK H3H3DD AA 4343DD AFAF;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:<: g aa DD YY HH ff
]1]1^2^2@@ 4747696988 @@M2M2>4> gZ[B[B4\\2gR
010100 >2>2@3@3KK H3H3DD AA 4343DD AFAF;`;`Y1Y1VV 69698282HH @B@BA1A1>>22:J: en aa DD YY HH ff
]1]1^2^2@@ 4747696988 @@M2M2>2> neZ[B[B\2\ e
010100 MK DD <1; <(6OH7 86E^bDE8 a D a YD HY Hf f
]1]1^2^2@@ 4747696988 @@MTM1MK DD < ;?[B[B\\2nh
7
4
9
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H
01010505H7H766 <7<7@@ 4343DD A)A);`;`Y1Y1VV 69698282HH @B@BA1A1>>22:):)SFSFaa DD YY HH ff
]1]1^2^2@@ 47698 @@MM H RZSi[B[B+\+\ (*
]1]1^2^2@@ 4747696988 @@MM HH gZ[B[B\1\ Pd
]1]1^2^2@@ 4747696988 @@MM HH2eZn [B[B\2\BQl
0105H76 <7@ 43D AJ^2@B^BV= 8 ^ba D Y H f
]1^2@ 47698 @M H ^BVF[B\1W
]1]101^2^20 @@ <74747@O6969<88 @@D )A ,5DE6E8D (<=g@Gg=GM16OHM36OA2H@B@^Z; NH A2@[B[B4\\2N7gh6 ; 20H W@B* AC*; 8 ^*30101;100; D >BK ^126 ^1:EY3HA2@B@@3^J;143; >D A2DG4Z:EY3DE@38HBI;@5@g=-/.i6OH g=; H6OH H @; H H @?A2@ N76 ; H @BA
010100 (<B^13^12; 1A2@3H3;1;D A2DG4Z@ B^HBI @HBI ]@ 1Q2] P1_j1S PZV A26OH@ N76 ; H @BA
]1]1^2^2@@ 4747696988 @@ (<M 43^2; 12 MH 4BA2S@ N[B\2[B[14\R g 2W2e
010100 (<>32:E2; 1Y3@ H3H3D D A2@@ B8 ^GVCHB:BI@@ - ] 3 WR5V 6OH
]1]1^2^2@@ 4747696988 @@Z(<@ 832; 126 MA14o2RL@L[B[B\2\7[S`[
010100 >> 22:E:EY3Y3@@ H3H3DD ^@ 86 G; VCGVC:B@L:B@L; ; H Y2H Y2A A H7 H76EDE6E8DE8 698698 P P A2@A2N7@ N76 ;6 H; @BH A@BA
]1]1^2^2@@ 4747696988 @Z@?^@ 86 3;1;; HH [B[B\2\2)[[1([
01Y )W0 31j1^2W@3KB): BA2; @F6958 ; 4 698 @L;`Y1V2A D Y H7698 @
0101010 01>0101BA01016 01GVC0101:B01@301; 0101010101010101010102010101020101030101010201010201010102010102010101030101020101010
01Y [01W201lB01j60101-/01. 01010 Q201P101j101PL010101M101gE<T0101^01 01H 01 014 02010101020101030101010201010201010102010102010101030101020101010
01Y 20 P .K`Y2A16 A2 @ 82n H ; 4
010100 <7<7@@33;`;`Y2Y2A2A2@B@B^.^.K`K`Y2Y2A1A1A2A2@@ 8282HH ;; 696988 MM II 33;G;G@@?V
Y 2P .6 V n 4
010100 K`K`Y2Y2A1A1A2A2@@ 8282HH ;; 696988 V32@:EMH I**B\B\6 ;6 ;
Y 2P .6 2: 4 h 4
Y 2P .6 V3@ H h 4
010 ^ 6O414 @BA2@ 8 KG@ DG4 K`Y2A1A2@ 82H ; 698 2:EM I B\ 6 ;
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010100 ^;`Y16OV4146982@BA2H @B@ 8A1>KG@2:2;DG4 H7K`6 <7Y2A1@ A2@ 82H ; 698 V3@ H B\ 6 ;
22PP Z^H 6 V3n @ H 4 n 4
010100 ^;`Y16 V2:69824 H @BA1D >>22@B:2AF; ;`Y1H7V 6 <76982@ H @B4 A1A >D <F2: M2A2H7@B6 <7> @6ED YT;5M3@BA 6ED ^
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010100 ^>2@36 V3K H3@ HD AZ \D >2@BAF;`Y1V 6982H @BA1>2: H76 <7@
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010100 @3@3;; H7H766 (<(< HH @B@BC^^.3;`M3K1@1KG@2@B^:B@BA H76EDE8
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010100 ;K D698; @698 @DG4?DGHB4ZI @HBHI @ H Y 2P ; 6982HB5I 4
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01010L0L69698282HH @@ NN AA H3H3DD AA 4343DD AAgF6 ^LK DEK 82DE82H HA AD D:5:5VCVC: :D D2K 12K 1
Y 2P .6982H S 4
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01010L0 >69822H: 4@ NLA K H3DE82D AH A 43D :D A D Y6 oLH M1YK HDE82H A D :5VC: D 2K 1
Y 2P .6982H g 4
Y 2P >2: 4 4
010100 >B;GV3@3@K HH3LD A K DEDG824ZH AHBID :@JDK YDE82H M1H YA HD : D Y H M1Y H
Y 2P >BV3@ H 4
Y 2P ;G@3K H3D A 4
010 K D Y 82H @BAZ> 2:EY3@3; 43D A HBI \@ ]^1k
Y 2P C0 l - l)K 82H n 4
0101010L0101698201H0101@BA101AB01Y101M01HL010101H 01G01VC01:B01@ 0101010102010101020101030101010201010201010102010102010101030101020101010
01Y [01W201lB01j60101-/01. 01010 l+0101.EQ201W0101016O01H 01G01V 014 01010102010101020101030101010201010201010102010102010101030101020101010
X '1k ]); H BA H6j -4 4 6j - 4 6j - 4 010 A2@3;G@ H
j6- 4 j6- 4 j6- 4 j6- 4
6j - 4 6j - 4 6j - 4 6j - 4
6j - 4 6j - 4 6j - 4 6j - 4
6j - 4 6j - 4 6j - 4 6j - 4
j6- 4 j6- 4 j6- 4 j6- 4
X '1k ]ZM1gE< 6 A16j o- 44 6j - 4 6j - 4 010 - W 6982H @BA1ABY1M H
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j6- 4 j6- 4 j6- 4 j6- 4
6j - 4 6j - 4 6j - 4 6j - 4
6j - 4 6j - 4 6j - 4 6j - 4
6j - 4 6j - 4 6j - 4 6j - 4
0101010L0101698_01016OH701016 01201: 016 0101 H701016E01DE8010101K 01D 01^201@ 02010101020101030101010201010201010102010102010101030101020101010
01Y [01W201lB01j60101-/01. 01010 l+0101.EQ201W01010169018_016O01H 014 01010102010101020101030101010201010201010102010102010101030101020101010
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-/-/.. aa MM HH gTf5f5dd)P)P 3232[[ 44
-/-/.. aa MM HH2eTn f5f5ddP))P 3232[[ 44
-/. a M H ^BV_f5d)P 37S 4
)PP013320 [?[?=g dd 6O(<HQ1k3Y2; a 12M82M4H7^4 6 R:ZH 4 B;À2g @ 6ONH Kf I 4 6 ;?0101K I00 (<82A2N@3@BB2; 1^^ 443DG4D: A MN D;] 3; R6OH76EDE8
P d?P)32[P1QZP 3[ 4 010547698 ^ 698_6OH76 2: 4 : N >2:EY3@
g= 6OH ;`g 6OHP)P _32K I[?S d?dQ1P 5k a4 M 4 ^ H BA2@ N f 4 010100 <A2@D >2B^@ 4698_: 6OH7N ;6 2:Z> 2:EY3@
PP d?d?P)P 32[30P. 1 QZP _P 3S [ 4 4 0101050 47K D69<C8 =M^\BA2] 3@RZg >6OHB2I:EY3@698_6OH76 2:> 2:EY3@
- JW X '1k ]=g 6OH ;`g 6OH K 5I 4 010 : D1D M?Y 82H76 :LK I 82N @ 698ZHBI @ 4 : N >2:EY3@
BA H ]^1k N @ 8 @BA H76EDE8 698 ] U P
)P01-/320. [?a MT; Hd)
DK < S f54 d)P 32[ 4
6 : D1D M 01-9Q0F1W 69824 47698_6OH @L: D1D M
X '1k] 6 : D1D M 4
0101010L0101698201H0101@BA101AB01Y101M01H010101;G01@B01A101> 016 01KG01@?0101AB02Y 01H70169018 02@ 0101030101010201010201010102010102010101030101020101010
01Y [01W201lB016j0101-/01. 01010 +l0101.EQ201W0101016 01A101o 014 0101010102010101020101030101010201010201010102010102010101030101020101010
M1gE< 6 A1o "!$#%&
)PP013320F[?[?6O4dd <(M1Q1YTk3;;2a 12IM V1M4 Y^4 H1S H3H 4 BDE8A2@ N 6 f;i4 M2A2@3;10101;G@B00 ^ <(A2 @3B;2K 1I^ 82443ND:A@F N ;];`M3_@1S @B^?A2@ 4 @BA2@ 8 KG@
P- JWd? )P 32X '1[k ]LP 1QZ; H PB3A H[ 4 2: N 4 0101050L476O4)698 ^6OH)4 :6 ; N >@BA2:ED Y3 @ ^ DE8 H ^ Di8CDGHBI_6982N
PQ1)01k320 [?a g2K A2Id @ 482D <7Nf5@L@ NdB;À2M3)P @32@14@B[ R^Z4 4 A2@ 4 @BA2@ 8 KG@
; H BA H 2: N
01-`[?0 A2d @ B6 ^F 4 K`Y2A1A2@ 82H ; 4 A D < 6E01D M D A H ;
Q1)P)P k3232[?[?a -`[dd k3-/-/[T.. f5aa MM d?66 T1RT)PS132ff [ 44 4
Q1)P k32[?a -`[d k3-/[T. f5a M d?6 gTP)32f [ 4 4
Q1)P k32[?a -`[d k3-/[T. f5a M d?6 )P 32f [ 4 4
Q1)P k32[?a -`[d k3-/[T. f5a M d?6 1eTP)32f [ 4 4
Q1)P k32[?a -`[d k3-/[T. f5a M d?6 n)P 32f [ 4 4
Q1-`kR?a d-`[ 6 k3V [T4 f5d?P)32[ 4
Q1)PP)k3232[?[?a -`Rdd k3-/-/[T.. f5aa MM d?66 V_V3RT)PS132ff [ 44 4
Q1)P k32[?a -`Rd k3-/[T. f5a M d?6 V gT)P 32f [ 4 4
Q1P)k32[?a -`Rd k3-/[T. f5a M d?6 V )P 32f [ 4 4
Q1)P k32[?a -`Rd k3-/[T. f5a M d?6 V3eT)P 32f [ 4 4
Q1P)k32[?a -`Rd k3-/[T. f5a M d?6 V n)P 32f [ 4 4
Q1k a -`R k3[Tf5d?)P 32[ 4
01-`[?0 dK DE8 6 >2 @B4 A HZH3D 2: 4 EV3@ H 010 2; 1 6 M.SG; H @2:B@O<7@ 82H a=: 3; H > 2:EY3@ DG4 :3; H 3M @BA 6ED ^7f
kk-13.ES Q[?d- dL6 2;Ea 4A:-14gS D k3;E4 [TA2Rf D 4 R 4
Q .ZK DE8 > +k2l232: 4j[? d'd 2Q1k6jn -a4 Z-`[ lB k3W [T4 f 4
010100L:6 D Ba ^6 f 26 ;E4A a g6 Df ;EA2R D R
d+k 32[ Ek 3[ a 1Q_f 4
k
K DE8 > 2: 4 Q1k a -1S k3[Tf5dk S 4
010 ; B>2@ 6 2: 4 a 6 f
-`-`[?R?dd 66 V 44
010 2; 1 6 M.SG; H @2:B@O<7@ 82H a=: 3; H > 2:EY3@ DG4 :3; H 3M @BA 6ED ^7f
kk-H3g?.EQ[?d- dL6 V3Ka 8@-HgHS D k3R 4 [TD f;EA24 R 4
kl_2jS dLd ;EA2n R 4 D R 4
Q .ZK DE8 > V3+k @32H[? d'2Q1k6j -a Z-`[ lB k3W [T4 f 4
+kk 37S ddk+Q132k[Ea k -`3R [ k3[Ta f 14 Q_f 4 010101000L::6 DD BBa ^^6 f266 VK 8 aa S66 Dff R D ;EA2R
K DE8 > V3@ H kQ1k a d-Hg k k3 [TB+kf537dS Ekk _ S.S 4 a 1Q_f 4 01010L0 ;6 B>2a @6 f 26 V3K 8@ HS D R a D6 ;Ef A2R 6 V a 6 f 2;EA2R D R
01-`[?0 ^d?6O41^ 46 @B2A2: @4 8 KG4 @ DG4 K`Y2A1A2@ 82H ;
-1-`R?S dd?^6 26 V3: 4@ H 4 4
010100 :: DD BB^^ 66 V32@: 4H acac[T[Tff
)P)P-H3237g?[?S d dd6 V3Q1Q1kk@ H aa -1-HgS 4 k3k3[T[Tff 44
2j d n 4
l
Q .Z;`Y1VT; PK`Y23A1[?A d?'2)P 6j32[-Z4 lBW 4
010 < D >2@ 6 2: 4 a 6 CS1f
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010100 <: DD >2B^@ 66 V32@: H4 aa 66 Cf S1f
PP)_32[?S d?dQ1P)k37Sa -14 S k3[Tf 4
010100L:6 2D B: 4^ 6a V36 @fH 6 2a :6 4f a 6 CS1f
P)P 37S d?dP)Q132k[Ga P-H3g [ k34 [Tf 4
010100L;6 V3B>2@ H@ ^ a 66 2f: 46 V3 @ a H6 f a 6 CS1f
Q1P k a d?-`[ P) k337[TSf5GP _d?S P 4 54
;`Y1VT; K`Y2A1AQ1k a -`R k3[Tf5d?P 54
010 ;B>2@^ 6 V3@ H a 6 f
01-`[?0 ^d?6 >^ 66 2; :6E4DE8 4 +V , H76 <7@
-1-`R?S d?d?^^ 66 V32@:GH^ H 44
-H- g?d?d ^H 6 4 V H ^ H 4
Q .5^ 6 > H7)Pl6 <7232@j[? 'd2d j6Q1kn-Ja4 - lBW k 4 f 4
010100 :: DD BB^^?H^ 6a 26 :f 4 a 6 f
[ [?dQ1k a -`[ k3[Tf 4
PP[_3[?S d?dd P [[[ [-S 244 j [ [ d g a 01-10f 4 < D >2@J01; I_0 6O41; I_H @B6O^L41H ^ ^6 26 2: 4: 4 a 6a 6f f
QQ -- [ P)P _32[S 4 )P 32Q [- 4 )P 32[ 4 Q - 01P)0 32^[ 64 2: 4 a 6 f 0GH a 6 f
QQ -- P))P 3232[[ 44 QQ -- P))P 3232[[ 44 QQ -- P)P)3232[[ 44 QQ -- P)P)3232[[ 44
QQ1k- a -1S )P k332[T[ f54 Qd?- P 3 [ )P 4 32[ 4 Q - 01P)0 32[;B4 >2Q@- ^ 6 2P):G^32H[ a4 6 f
[ [?dQ1k a -`R k3[Tf 4
010 : D B^?^0106 V3@; HI_6O41a H6 f ^ 6 V3@ H a 6 f
[ d?P [ - 2j [ [
d g a -1f 4
010 < D >2@J; I_6O41H @B^L^ 6 V3@ H a 6 f
PP _3[?S dd [[ [S 44
Q - [ P _SQ P)- 32 [ 4 )P 32[ 4 Q - )P 3201[0 4 ^ Q6 V3- @ H )P a 326 [f 0G4 H a 6 f
QQ -- )P)P 3232[[ 44 QQ -- )P)P 3232[[ 44 QQ -- )P)P 3232[[ 44 QQ -- )P)P 3232[[ 44
^ 6 > H76 <7@ QQ1 k- a -Hg P) k332[T[ f54 Qd?- P 3 [ P)4 32[ 4 Q - 01P)0 32[; B4 >2Q@- ^ 6 V HP)^32H[ a4 6 f
01-`[?0 d?K DE8\ ; 4 H ABYTK H >2@3K H3D AJ\
-1-Hg?S d?d?^^ 66 V2H:G^^ HH 44
[ [?dQ1k a -1S k3[Tf 4
010 : D B^?^0106 2:G; Î_H6O41a`HS1f ^ 6 2:G^ H a ^ 6 > 6 ^2@?V+,ZRTf
[ d?P [ - 2j [ [
d CSFa 0.Cf 4
010100 <: DD >2B^?@^^ 66 V2H:G^^ HH aà`S1S1ff 0 R
)P[32[?[?ddQ1[k [ a -H4 g k3[Tf 4
)P[l 237jS d?d Pd?[[e [- 4 24 j [ [ d CSFa 001.C0f 4 < D >2@^0106 V H; I_^ H 6O41a`HS1f 0^ R 6 V H ^ H a ^ 6 > 6 ^2@?+V ,ZRTf
Q .ZK DE8 ; H AP 3\[?'d?2j6)P 32-J[ 4 lBW 4
010100 << DD >2>2@@^^ 66 V2H:G^^ HH aa 66 CCS1S1ff 00 RR
P[_ [?S d?dQ1)P k37Sa -14 S k3[Tf 4
010 : D B^?^0106 2:G; Î_H6O41a H6 f ^ 6 2:G^ H a ^ 6 > 6 ^2@?V+,ZRTf
[ d?P [ - 2j [ [d CSFa 0.Cf 4
010100 <: DD >2B^?@^^ 66 V2H:G^^ HH aa 66 ff 0 R
)P[32[?[?ddQ1[k [ a -H4 g k3[Tf 4
P)P[37S d?d?d P)P 32[[[ [G- 2P 4 3j [ [4 [ d CSFa 00101.C00f 4 <^ D6 >22@:G^ H^0106a V6 H;f I_^0 HR6O41Ga ^H6 6f 20^ R:G6 ^V HH â H6 CS1a f^ 0 6 R> 6 ^2@?+V ,ZRTf
010100 ^; B6 V>2H@^ H\ aacR6 f 06 RCGS1^f 6 V H ^ H a 6 CS1f 0 R
Q1k a -`[ k3[Tf5d?P 54
DK E8 ; H A \ Q1P k a d?-`[ )P k337[TS Gf5P _d?S P 4 54
010 ; B>2@\ acR 6 f
01-`[?047d?698\ ^Z4 o1d ^1M 6 G\
-1-`R?S dd?^1o M 4 6 4
010100 :KB:BD @B^?BA \ 3a`K1S1K`f YE<CYC: H3D A
kk+32[?dZd[ Q1 k a -`[ k3[Tf 4
4
010 : D B^ ^1M 6 a`S =S1f
kl 32j[? ddFQ1kS`[ a -14 S k3[Tf
Q . 47698 ^ o2k R 'd26jk -JBk+32lBW[E4 k 3[ba 1Q_f 010 k 1\ a 6 f ^1M 6 a`S 6 f
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010 : D B^?\ a 6 7S1f
47698 ^ o2R +kk 332[?[?ddQ1Q1kk aa -`-1[S k3k3[T[Tff 44
010 : D B^^101M0 6 <Ca`YCS: H76 76 MCS1:f ,LA2@3;`YC: H V+,JR
[ ?
[ - 2j?k SBd SLa 0.Cf 4
d
P
Q1[k a d`- R [ k3 [Tf5. d [[ [- 24 j?k [;d 01C0 Sè;B>2a 0@?.CRf G4 o acRTf 010 B^1^ [ d H3DF698 KEA2@3;G@M2A2@3K 6 ; 6EDE8
010100 :KB:BD @B^?BA \ 3a`K1S1K`fYE <CYC^1M:6 H3acDR A =S1f52:GA2@B^),F: D B^2@B^ 698 k 3[
k+k-`32[?[?d?dZd\[ Q14 k a -`[ k3[Tf 4
Q . 47698 ^ 4okl2g j 'd26jkdF-JBS`+k[ 32lB4 W[ E4 k 3[ba 1Q_f 010 k 1\ a 6 f ^1M 6 acR 6 f
010 : D B^?\ a 6 7S1f
47698 ^ o4g +kk 332[?[?ddQ1Q1kk aa -`-1[S k3k3[T[Tff 44
[ d?P [ - 2j?k B
S d SL[ a 0d .C01f 0C4 Sè: D Ba ^0.C^101f M0 4 6 <CacYCR : H76 76 MCS101:f0 ,LBA2^1^@3;`YC :[ Hd +VH3,JDFR698 KEA2@ 3;G@M2A2@3K 6 ; 6EDE8
[ d [ . [ - 2j?k ;
010 ;B>2@?RGo afgTf
Q1k a -`R k3[Tf5d [ [ 4
010100 :: DD BB^^ ND VTO<1;G(<@BA1Ag
+kk013320 [?[?Y1M2dd ^ Q1N HkO<1@ a (< D VTD VTg;G@B;G4 A1@BA7A1>2f @B4 A
kk [?S dZdQ1[ k 4 a 2: I H f 4
kQ1k a2d: Ik HB+kf532[dEkk 3 [bS 4 a 1Q_f 4 010101000 2:;BD: I>2B*^@ H 82N@G: IgCO<1 (<H2: gI DH VT;G@BA1A
010100 :: DD BB^*^ N3OK1<1K (<D 1@ 41R 4
+k+k 3237[?S *dd N3OK1<1K (< D 1@ 41R 4 4 4
010 < D >2\@ 2: I H
kk _ [?S ddZk[ 4 S 4
kk S ddk Q1 kB+k a 32D <[ IEk 3H [bf 4 a 1Q_f 4 010100?D: <D IB^ H D <N IO<1 (<H 1R D VT;G@BA1A
kQ1k a dD < Ik HB+kf537dS Ekk _ S.S 4 a 1Q_f 4 01010?0 D;<BI>2@ H 8 N@GgO<1(< D <1RI DH VT;G@BA1A 3K1K D @ 414 2: I H
010100 :: DD BB^^LN;`MTO<1K (<D T@ 41S 4
+k+k 3237[?S dLd N;`MTO<1K (< D T@ 41S 4 4 4
010 < D >2@ D 2@ H 8 N@GgO<1(< HBTI1IS DH VT;G@BA1A C;`MTK D @ 414 D 2@BAF@BA1A D A 010100 <^ D6 >2; G@ VCHB:BI1@LI ; H H Y2A H76EDE8FH3D 2:1: D gJg2A G=M BA D Y 8 ^
010 R HBI1I H 6O4ZD >2@BA 4 : D gLd GY H3D g2A G=M BA D Y 8 ^
P)P 32[?dd?k P 5S 4 P 3[ 4
0101050 <47D698>2^L@J;; 696988 acacRR HBHBI1I1II HH ff A2@3;`YC: H.698 P k+PlB3P32[?[?)d?d?; )PP6958532[ 44 4
0101005<HBI_D >26 @?; R6 H; HBI1Y Ie H a9K D A1A2@3;`M DE8 ^C; H3D M 6E0 RTf
)PP 32[?d?dZ)P 32[B\[ [1i[1[P 34 [ 4
010 M 6E0 R R HBI1I H
P)lB32P [?)d?; P69558 44
0101050 <47D698>2^L@J;K D698;_aacMR 6EHB0 I1R IBR H HBf I1I H fZdJK D ;_acR HBI1I H f
+k -`37R?S d?d?o P 4 54
010100 :: DD BB^Z^ZRR GGoo acfa RTgTff
kk 3_[?S ddQ1Q1kk aa -`-`RR k3k3[T[Tff 44
kk dd+kk 37ES +kEk32_[ ES)k 3a [b[[ fa 4 1Q_f 4 010100 RR GGoo fafa gTgTff 22KK DD ;_;_acacRR HBHBI1I1II HH ff BR Go acRTf 3; 698 acR H1I1I H f
Q1k k[ j1a P1D VTjJ;G@BdZA1A7@ 8f53d; kH 4 S 4 010100 @;8B>2GVC@ :B@LD VT;G; @B A1H Y2A A H76EDE8 N 698
01-`[?0 dB>2@B6 A2: N4 @ 4 HBI @LK`Y2A1A2@ 82H ;
-1-`R?S dd H6 V34 @ H 4
P[ dd?Q1P k[ a -`- 2[ jZ k3[TP f 4 d CS)a 0.C01f 0 4 : D B^ 016 20L: 46 2:ac[T4 f ac[Tf 0 R
010 < D >2@ 6 2: 4 ac[Tf 0 R
k)Pl 232j[?dZd d[ [4 n [ 4 4
Q .2: 4 BP > 'd2j6Q1k-Ja -`[lBW k34 [Tf 4
010 : D B^ 6 2: 4 a 6 f
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PP[3 [?d?d?d PP)32[[[[- 24 jZP 3P [ 4 d CS)a 0.C01f 0L4 6 2: 4 01a 0L6 CS16 2f 0: R4 a 6 f6 02R: 4 a 6 f 0 R
kk 3 [?ddk Q1 k1P a -`REk k33[T[bf 4a 1Q_f 4 010100 : a D6 B2^: 4 H aa 66 Cf S1f 6 2: 4 a 6 f1f 0 R H a 6 f
2: 4 B> )P[32[?d?d?P P[ 3 [- 24 j?k BS d LR a 0.C01f 0 4 < D >2@ 016 20 : <C4 YC : a H76 f6 MC0 R: ,J+V ,
010 < D >2@A2@3;`YC: H a 6 2: 4 *B>2@BA N @Tf H3D k+32[
+k 32[?d [ [ 4
P[-`R?ddd?Q1HP k[ 4 a -1- 2S jZ k3[TP f 4 d CS)a 0.C01f 0 4 : D B^ 016 V30L@ H6 V3 @ ac[TH f ac[Tf 0 R
010 < D >2@ 6 V3@ H ac[Tf 0 R
kP)l 232j[?dZd d[ [4 n [ 4 4
Q .iV3@ H BP > 'd26jQ1k-Ja -1lBSW k34 [Tf 4
010 : D B^ 016 V30L@ H6 V3 @ a H6 f a 6 f 0 R
[ d?P [ - 2jZP d CS)a 0.Cf 4
PP 3 [?d?d )P 32[[ [ 4 P 3[ 4
kk 3 [?ddk Q1 k1P a -`REk k33[T[bf 4a 1Q_f 4 0101010L00 :6a V3D6 V3@BH^@ H H a 6aa C66 CS1f fS10f R 6 V3 @ H 6 V3@a H6 f1 f a 0 6 R f 0 HR a 6 f
V3@ H B> )P 32[?d?P 3[ 4
010 < D >2@ 6 V3@ H a 6 f 0 R
k[3[?d?d P [[ [- 24 j?k SBd LR a 0.C01f 0 4 < D >2@A201@30 ;`<CYCYC: H: H76a MC6 V3: ,J@ H V+*, B>2@BA N @Tf H3D k 3[
k)P0132[0 j1[?P1K jJdDE8 >2Q1d?k@BA^ a HZHB6 I1;1IH3;D HH ^f 4 G4 o 4 A O<7@ 010100 ^: D6 B;^GVCHB:BI1@LI ;H H Y2A H76EDE8FH3D 2:1: D gJg2AGM=BA D Y 8 ^
0101050 47; B698>2^L@J;; 696988 aa HBHBI1I1II HH ff
Q1PlBk3P [?a9); d?6982; HBP)69I5832[f54 4 d?P 54
0101005<HBI_D >26 @; HB6 I1H; I Y He a9K D A1A2@3;`M DE8 ^C; H3D M 6E0 RTf
)PP 32[?d?dZ)P 32[B\[ [1i[1[P 34 [ 4
010 M 6E0 R HBI1I H
)PlB32P [?)d?; P6958544
0101050 47; B698>2^L@J;K D698; HBa MI 6E0 R HBI1I H f?dLK D ;_a HBI1I H f
Q1k k[ j1a9P1K jJD ; HBdZI @f58 d?3; P 5H 44
010100 <@ 8D >2GVC@ :B@L6 V3@; H H Y2A H76EDE8 N 698
+kk 337[?S ddkQ13k [ a9; 4 6982HBI f 4
kk _ S dd?+k P325[ E4 k _S)a 1Q_f 4 010101000L<:6 2DD >2B: 4^L@J2K; DK698D;_;_aa HBHBa I1I1HBI1II I HH Hff f
kP 3[?ddk k B+kS 374 S Ek 3[ba 1Q_f 4 01010L0 < 6 2D >2: 4@ 26 ^K D ;_a HBI1I H f 6 V3@ H 3; 698 a HBI1I H f
kk dd+kk 37ES +kEk32_[ ES)k 3a [b1Q_a f 14 Q_f 4 01010L0L66 V3V3@@ HH 22KK DD ;_;_aa HBHBI1I1II HH ff 6 2: 4 3; 698 a HBI1I H f
010 < D >2@ 6 o
P _S dk S 4
)PP01320F[?d?6 ^Ld)P Q132K k[DE82Ga HP6 3A^1A2[D @:54 4 VCf : 4 D 2K 1 010100L:6 ^1D A2B^@ 4 6 ^16 Â2@ 4
010 : D B^ 6982H S
kk [?S ddZQ1[ k 4 a 6982H S1f 4
kk 3 [?ddZk @BA11A7P SGEK kD 3@ 41[b4769a 82 H1Q_4 f 4 010100L:6982D HB^ZS @Ba A16 ^1A7A2SG@K 4D @ 416 ^747f6982B@BH A1A7SGK D @ 41476983H
Q1k- Zk_Sa k6982dZH [@BS1P1A1f5jA7d5SGkK 5kD @ 4 41S 434 D Y H 4 010101000 :;; BD H>2BY2^Z@ A@B69H82A1@HA7SSGK69D82@H 41S 43D Y H
k- Zkd k [ 1P1Pj kEk5_4 S.a 1Q_f 4 010L6982H S a 6 ^1A2@ 4 6 ^7f B@BA1A7SGK D @ 4143D Y H
010100L< 6982D >2H @S a 6 ^1A2@ 4 6 ^7f ac@BA1A7SGK D @ 4143D Y H S1f
PP 3J[?d?dP k 1PS 34 [ 4
01010L0 < 6982D H>2@S >1a ^C6 ^1K A2@ 4 6 ^7f ac@BA1A7SGK D @ 4143D Y H CRTf
k+P 32[?d?d?P P 51P 4 4
010100 :: DD BB^^ g2D <A2I@ 4 H
)PP013320 [?[?gFddK Q1Q1DE82kk H aa g2AD <A2D I@:54 HVCf :f 4 D 4 2K 1
010100 g2: A2D @B4^ Eg 69I82H HR
kkP [?S d?ddZ)P Q132[ k[ 4 Ga P69823H[ RT4 f 4
kk 3 [?ddZk @BA11A2P R3EK kD 3@ 41[b4769a 82 H1Q_4 f 4 010100L:6982D HB^ZR @Ba g2A1A2A2@R34K ED g@ I4147 H6982f HB@BA1A2R3K D @ 41476O82H
010 ; H Y2A H76EDE8.DG4)6982H R
- Zk [ P1jk 54
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010100 :;BD >2B^@ 69698282HH RR3K D @ 414
Q1k k3[?a 6982d H RT6982f5H R3d5K kD @ 41S 4 4 4
kk _ S ddZk @BA1S A2EkR33K [D @ 41a 43[D[ Y f H 4 4 010100L:6982D HB^ZR @B6982A1HA2R3R3KK DD @@ 4141443D Y H
kP dd?kPd 1[ P k Ek S _4 S.a 1Q_f 4 01010L05476982698H ^*R G6982VTH; R3D K:EYD @H 41@J4 >2a g2:EA2Y3@@ 4 EDGg 4)I 6 H o1fA21@ @B4 A1ACR3K D @ 4143D Y H
010100 :K DD <CBM=^ BA26 @: 6 < 6OH
P 3[?d 6 : 6 < 6OH 4
. 2WJdP GP 3[ 4
P)X- '132k[?]U jZd6 koX '1 kKS ]LDE4 82H; A HD : 64 o1A2@ 4 4 0101010L00 < K6O4DDE82>2H7@GVT698;_6 Y3o1a A2@Z6 o1@ A24g @ 6O 4HB8CIfD 6K :DE;826 < HH Y2A6OHAD :1 H7:B@B;6EADE 8H Y2A H @
; H 6 o1A2@ 4)P 32 [?d 6 : 6 < 6OH 4
010100 :K ID B@3^*K21.GVT; ;6ONBD 8F:EY HDG@F4J:D A6 < 6ON76OH698 2: 6 o1A2@ 4
. 2WJd]1P [[ k S 4
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kk 3 [?ddZk @BA114AP g3EK kD 3@ 41[b4769a 82 H1Q_4 f 4 010100L:6982D HB^Zg @Ba A16 o14A A2g3@K 4D @ 416 o747f6982B@BH A14A g3K D @ 41476983H
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010100 <@ 8D >2GVC@J:B@LK D ;_; a9HK Y2D A1A A HBH7I16EIDE8 H f N 698
kk _[ j1S P1jJd?dZP 5@ 4 8 3; H 4
kk+37S dd?+k P)3237[ ES k 4 _S)a [[ f 4 010100 <>1^CD >2K @2K >1D oC; HBK I
kQ1k a >d2k: 4 TE+kf537dS Ekk 3 [bS 4 a 1Q_f 4 010100 >1; ^CB>2K @2K >D 2; HB: I4 G >1oCK 2; 6982HBI
kk dd+kk 32B[ k+Ek373S[Ek _a [S.[ fa 4 1Q_f 4 010100 >1>1^C^CKK22;; 69698282HBHBII 1>1oCK2K D ; HBI
010 ; B>2@>BV3@ H Q1k a >BV3@ H Tf5dk S 4
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kk 3 [?ddLk K 8E+kS 37D ;ES 4AEkg 34 [ba 1Q_f 4 010100 >: 2D B: 4^)GS >B0 V3;Eo1@ HA H2fa gTK 8 f S D ;E4A g
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kk 3_[?S dLdLK;E84A gS DD RR 44
kk ddk+k 32B[+kEk373S [Ek _a [S.[ fa 4 1Q_f 4
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kQ1k a >BdV3@k H TEk+f532d[Ekk _ S.S 4 a 1Q_f 4
>BV1M2> 8 k+X '137kS ]Ld@ 8k ^C;GS @34 K 4
kk [?S d?dZ)P[ 324 [ 4
kk 3 [?ddLk K 8Bk+S 37D ;ES4AEkg 34 [ba 1Q_f 4
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kk ddkk EE+k+k 3732[S EEkk 3_[bS.aa [1[ Q_f f 4 4
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>BV 8 )P 32[?dQ1k a > 2: 4 Tf 4
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kk [?S d?dZ)P[ 324 [ 4
kk 3 [?ddLk K 8B+kS 37D ;ES 4AEkg 34 [ba 1Q_f 4
P- \d1WZ]1PX '1[k[ ]Lk ;G@3S K 4 H3D A2e 4
;G@3K H3D A n )P 37S d n 4
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kk dd+kk 32[Ek+Ek373S[Ek _a [S.[ fa 4 1Q_f 4
Q1k k a >d2:+k 437TS f5Ek 3d[ k a [S [ 4 f 4
kQ1k a >BdV3@k H TB+kf532[dEkk _ S.S 4 a 1Q_f 4
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kk dZdk[ 4 E+k 32[ Ek 3[ba [[ f 4
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kk ddk+k 32[E+kEk37_S ES)k 3a [b[[ fa 4 1Q_f 4
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010100 < ;G@3D >2K H3@D AZ>2dJ: 4 R
010100 :: DD BB^)^L;ES o10 AR H fa gTf 0 R
010100 >>22:: 44 00 RR1>BV3@ H 2;Eo1A H afgTf 0 R
010100 >B; V3B>2@ H@ A0 RDGH H @B^L> 2: 4 010100 >B;V3B>2@ H@ A0 RDGHG> 2H :@B4^L2>B;EV3o1@ AH H fa gTf 0 R
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>BV 8 > 8 k+37S dk S 4
010100 << DD >2>2@@>B>V32@: H4 kk [?S d?dZ)P[ 324 [ 4
kk 3 [?ddLk K 8E+kS 37D ;ES 4AEkg 34 [ba 1Q_f 4 010100 >: 2D B: 4^)GS >B0 V3;Eo1@ HA H2afgTK 8 f S D ;EA4g
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PP 3 [?ddLk K 8S GS PD 3R [D ;E4 A2R 4
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k)P 32[?ddk k S ES k 4 3[ a 1Q_f 4 010100 < a >D >22@: 4 A21@3>B;`V3YC@: HH 0 ;Eo1A H afgTf1f2;Go1A H a=RTf 0 R
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010100 :K D6 ACB^LK`YC:;GB@3AJK H3DV1AY 414 @BAL:B@ 82N1HBILn
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k+k 332[?[?dLdQ1;EkA2R a >BDBV3n @ 4 H Tf 4
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010100 ;S B0B>2n @JG>2K 82: 4H a97;G@3S1KSH3G>BD V3A@7HS1f
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Q: .?D B^: D BK 82^ H AK 82 H A '2j6-ZlBW 4
010100 ^;B6 >2;@JGVC:BK 82@LH Ka 66 ACf K`YC:BAJV1Y 414 @BA
Q12k[?a dZ-`[ [ k34 [Tf5d?P 54
01-`[?0 dLK DE8K >282@BH A 4 H K D Y 82H @BAL>2:EY3@3; 4 A D < 4 A3K H76EDE8FH3DL6982H @ N @BA
010100 :: DD BB^L^LK`K`MM HH M1^2gE@<B4^ A
kP 33[?[?dLdLK`K`MM HH M1^2gE@<B4^ A 4 4
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DRIVERS
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DC LINK
SUPPLY
PWM
Fault
ELECTRIC
POWER
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MODULE
PROBES
SUPPLY
CURRENT
PROBES
Motor
Current
Measurement
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pin2 2
pin3 3
fault
pin4 4
pin5 5
pin6 6
J5
DB15-F
88
15 15
77
14 14
66
13 13
to
55
DSPACE
12 12
(digital)
44
11 11
33
10 10
22
99
11
1
SW1
3
2
D1
R15
220
9
5
4
2
1
8
7408
6
7408
R16
1K
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PWM6
PWM5
PWM4
PWM3
PWM2
PWM1
2
1
2
FO1
FO2
FO3
FO4
DGND
NOTE:
DGND and DVCC
also feed the AND’s
(pins 7 and 14 resp.)
and a .1u capacitor is
close to the chips.
8
U17C 7408
6
U17B 7408
3
U17A 7408
U16C
U16B
3
U16A 7408
D2
10
9
5
4
2
1
10
1
2
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220
2
CPU
AGNDU
CPV
AGNDV
CPW
AGNDW
AGND
NC1
VCC 2
GND 3
NC 4
/A 5
from
A6
encoder
/B 7
B8
/I 9
I 10
J7
1
2
3
4
5
6
7
8
U18
75173
1B VCC 16
1A
4B 15
1Y
4A 14
G
4Y 13
2Y
G/ 12
2A
3Y 11
2B
3A 10
GND 3B 9
C14
.1u
J9
1 pin1
2 pin2
3 pin3 to
4 pin4
5 pin5 DSPACE
6 pin6 (analog)
7 pin7
8 pin8
J8
1pin1
2 pin2
3 pin3
4 pin4 to
5 pin5
6 pin6 DSPACE
7 pin7 (encoder)
8 pin8
9 pin9
10 pin10
1
Page 2 of 2
May 4, 2000
Inverter for the PM motor
Power Electronics and Motion Control Systems Laboratory
Northeastern University
1
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B
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HARDWARE IMPLEMENTATION OF A SENSORLESS CONTROL

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