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R5F562TADDFF Datasheet(PDF) 11 Page - Renesas Technology Corp |
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R5F562TADDFF Datasheet(HTML) 11 Page - Renesas Technology Corp |
11 / 25 page RX62T Position Control of PMSM with Encoder R01AN0899EU0200 Rev. 2.00 Page 11 of 22 Jan. 31, 2014 6. Position Control Strategy 6.1 Block Diagram of Position Control Figure 9 is block diagram of position control. The position control developed includes two loops. The outer loop is position control to make the motor tracking and holding the given position. The inner loop is current control. Actually it is the torque control loop. The motor currents are sampled through three shunt resistors and converted into the dq axis currents. The control loop here is to control the q axis current for the torque. Figure 9 Block diagram of position control The position control scheme of the PMSM is illustrated in Figure 10. The system has an inner loop of current regulation using vector control, and an outer loop of position regulation. This dual-loop structure ensures the fast torque response by using the vector control, high position accuracy and fast tracking performance with the position controller. In order to determine the d and q axis currents, the phase currents must be measured. Vector formulation uses Clarke and Park transforms to convert the measured phase currents from the (u, v, w) frame to first transform them in the static orthogonal (a,ß) frame (which is 90 degrees apart), and then, to the rotor frame which is also an orthogonal frame aligned along the magnetic field axes known as the (d,q) frame. These transformations use the transcendental functions sine and cosine of the rotor angle; thus, it is a requirement that the rotor angle is known at the time the calculation is made. The position control requires current sensors, plus an encoder attached to the rotor shaft to measure the rotor position. Once the currents are transformed in the (d,q) frame, the control algorithm simply runs the PID or PI loop to calculate the required voltages for the torque and flux. These required voltages (Vdc, Vqc) are then transformed back in the (u, v, w) frame using the inverse Clarke and inverse Park transforms to further calculate the PWM duty cycle. The position command is an input to the position control system. The motor has an encoder mounted on its rotor to give the quadrature pulses A and B, as well as the zero synch pulse Z. All three of the rotor position signals are sent to the MCU’s input-capture and timer/quadrature counter peripheral for making position and speed measurements. The commanded position compares with the actual rotor position. The position regulator uses the traditional PID controller, and outputs the torque control command of iq* to make the motor moving and tracking the commanded position. |
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