Jetter JetWeb JetMove 203-230, Руководство пользователя, Страница: 43 / 90

JetMove 203-230
Jetter AG 43
6 Drive Controller Structure
Fig.6: Block diagram of drive controller structure
Pow
er
Se
ct
ion
Motor
V
W
U
Sp
ac
e
Ve
ct
o
r
PW
M
En
co
de
r
d,q
α
,
β
α
,
β
u,v
,w
inv
. P
ark
inv
. C
larke
Pa
rk
Cl
ar
ke
IuP IvP
Iq
Id
IdRef =
0
Sp
ee
dR
ef
Iq Co
nt
ro
ller
Id
C
on
troller
Encoder Ev
al
u-
at
io
n
Sp
ee
d
α
,
β
u,v
,w
d,
q
α
,
β
Po
sR
e
f
Po
s
-
-
-
-
Rho
Cu
rre
n
t
Sc
al
in
g
Iq
Re
f
Uq
Re
f
Ua
lp
ha
Ub
et
a
Uv
R
ef
Uw
Ref
Uu
Ref
PW
M
u
H
/L
PWM
vH
/L
PW
Mw
H/
L
Iu Iv
Ialp
ha
Ibet
a
Se
tpoint
Gener
a
to
r
Sp
ee
dF
w
d
Cu
rr
en
t
D
et
ect
io
n
Ke
Uem
k
Sp
ee
d
Kv
Kp
, Tn
Kp,
Tn
Kp,
T
n
Vo
lta
g
e
G
en
er
at
or
URe
f
Ud
Ref
Sp
ee
d
Pos
IR
ef
EMF
Pr
e-
C
on
tr
ol
Sp
ee
d
C
on
tr
ol
le
r
Pos
Controll
er
ma
x
mi
n
IFwd