RX62T YROTATE-IT-RX62T Motor Control Kit
UM-YROTATE-IT-RX62T Rev.1.00
Page 26 of 51
Jan 15, 2014
Phase currents (iu
mea
, iv
mea
) reading
Transformations (using the phase angle
ϑ
):
(iu
mea
, iv
mea
) → (ia
mea
, ib
mea
) → (id
mea
, iq
mea
)
Read DC Link voltage v
bus
Control interrupt
Current PI controls use (id
ref
, iq
ref
), (id
mea
,iq
mea
) to produce (vd
out
, vq
out
)
Transformations (using the phase angle
ϑ
):
(vd
out
, vq
out
) → (va
out
, vb
out
) → (vu
out
, vv
out
)
PWM output commands generation (using vu
out
, vv
out
)
v
bus
is used to calculate maximum phase voltage (used in current PI controls)
Phase estimation based on old_va
out
, old_vb
out
, ia
mea
, ib
mea
,
produces new estimated phase angle
ϑ
est
Voltage memories update: old_va
out
= va
out
, old_vb
out
= vb
out
Speed estimation produces
ω
est
Estimation errors detection (if errors an alarm is produced)
Start-up in progress?
NO
YES
id
ref
= 0
Speed PI control uses (
ω
ref
,
ω
est
) to obtain iq
ref
Start-up procedure produces id
ref
, iq
ref
,
ϑ
stup
Phase angle update:
ϑ
=
ϑ
new
ϑ
new
=
ϑ
stup
ϑ
new
=
ϑ
est
cnt_int > 0 ?
NO
YES
--cnt_int
Main loop
synchronization
