RX62T YROTATE-IT-RX62T Motor Control Kit
UM-YROTATE-IT-RX62T Rev.1.00
Page 31 of 51
Jan 15, 2014
Furthermore id
mea
and iq
mea
begin to be similar to the real flux and torque components of the current. The
real components are supposed to be id
0
and iq
0
(those values are obtained applying a low-pass filter to id
mea
and iq
mea
).
The interval (t
2
-t
1
) is the start-up time, and it is supposed to be large enough to allow the estimation algorithm to
reach the complete alignment with the real phase of the system.
d)
At t = t
2
, the phase estimation process is supposed to be aligned. At this point a reference system change is
performed: from the arbitrary (d
a
, q
a
) reference to the (d, q) reference based on the estimated phase
ϑ
est
.
The current references are changed to the values id
0
and iq
0
, and all the PI controllers are initialized with these new
values. The speed PI integral memory is initialized with the value iq
0
, while the current PI integral memories are
initialized with the analogous voltage values vd
0
and vq
0
, obtained from vd
mea
and vq
mea
.
e)
After t > t
2
, the normal control is performed, based on the estimated phase
ϑ
est
; the speed reference is
increased with the classical ramp; the id current reference is decreased with a ramp, till it reaches the value
zero at the moment t
3
; then it is maintained to zero; the iq current reference is obtained as output of the
speed PI controller.
