U S E R M A N U A L
Jan 26, 2015, AN709-00011-1v0-E
19
6.2.1.2
UI_02 Encoder Information
QPRC_LineNumber: indicating pulses per cycle for encoder signal A or B.
QPRC_times: indicating QPRC unit working mode for detecting encoder signal. This is set to 4 by default.
For more information about it, you can refer to MCU peripheral manual reading chapter QPRC for
PC_Mode2 setting.
6.2.1.3
UI_03 Sample Resistor, Amplification, Carrier Frequency and
Dead-Time
Table 6-2: Sample Resistor, Amplification, Carrier Frequency and Dead-Time
Name
Explanation
Value
Motor_f32IuvwSampleResistor
Sample resistor
0.015
Motor_i32IuvwAmplifierFactor
Amplification factor
5.0 times
Motor_i32IuvwOffsetNormal
ADC value for 2.5V offset
2.5V<=>2048
Motor_i32IuvwOffsetRange
Define offset range
150 : Offset
range<2048-150,2048+150>
Motor_f32DeadTimeMicroSec
Dead-time
2.5us
Motor_u16CarrierFreq
Carrier frequency for PWM
15000Hz
Sample resistor and amplification is related to hardware board, they must be written correctly.
Dead-time is depended on IPM, MOSFET or IGBT, the minimum dead-time can be found in its
datasheet.
Carrier frequency can be rewritten as requirement.
6.2.1.4
UI_04 Current PID and Speed Loop PID
Table 6-3: Current PID and Speed PID
Name
Explanation
Motor_f32LowSpdKi
Speed loop integration parameters when speed
lower than Motor_u16ChgPiSpdHz
These parameters are
not fixed. Instead, they
depend on motors and
systems.
Tune these parameters
when changing motor.
Motor_f32LowSpdKP
Speed loop proportion parameters when speed
lower than Motor_u16ChgPiSpdHz
Motor_f32Dki
Current loop integration parameters in D-axis
Motor_f32Dkp
Current loop proportion parameters in D-axis
Motor_f32Qki
Current loop integration parameters in Q-axis
Motor_f32Qkp
Current loop proportion parameters in Q-axis
Motor_f32Skp
Speed loop integration parameters when speed
