Renesas YROTATE-IT-RX62T, Руководство пользователя

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RX62T YROTATE-IT-RX62T Motor Control Kit
UM-YROTATE-IT-RX62T Rev.1.00 Page 32 of 51
Jan 15, 2014
16. Reference system transformations in details
Find below the detailed equations used for the coordinates transformations.
) 2 (
3
1
) (
3
1
)
2
3
2
3
(
3
2
)
2
1
2
1
(
3
2
v u w v w v
a w v u
g g g g g g g
g g g g g
+ = − = − =
= − − =
β
α
(u, v, w)
→
(
α
,
β
)
2 / ) 3 (
2
3
2
1
2 / ) 3 (
2
3
2
1
β α β α
β α β α
α
g g g g g
g g g g g
g g
w
v
u
− − = − − =
+ − = + − =
=
(
α
,
β
)
→
(u, v, w)
) cos( ) sin(
) sin( ) cos(
ϑ ϑ
ϑ ϑ
β α
β α
g g g
g g g
q
d
+ − =
+ =
(
α
,
β
)
→
(d, q)
) cos( ) sin(
) sin( ) cos(
ϑ ϑ
ϑ ϑ
β
α
q d
q d
g g g
g g g
+ =
− =
(d, q)
→
(
α
,
β
)










− + =
− + =
+ =
) 3 / 4 cos(
) 3 / 2 cos(
) cos(
0
0
0
π ϕ ω
π ϕ ω
ϕ ω
t V v
t V v
t V v
w
v
u
↔






+ =
+ =
) sin(
) cos(
0
0
ϕ ω
ϕ ω
β
α
t V v
t V v
↔






=
=
) sin(
) cos(
0
0
ϕ
ϕ
V v
V v
q
d