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18
1.
The regulators
Two Digital Signal Processors (DSP, Sharc from Analog Devices) manage the controller. The first manages
the movements profiles and the second is used for the regulation loops. There are two regulation loops, a
position loop and a current loop, controlled by the second DSP. The position loop calculates the reference
force F
that the motor supplies to follow the position reference calculated in a separated generator, called set
c
point generator. This force is afterwards sent to the current loop where the current reference generator
calculates the reference currents I
(proportional-integral) regulator which controls the current in the motor phase(s). The diagram below shows the
complete regulation process.
User
a
max
v
max
x
final
x
V
F
I
Kt
The elements of this regulation general diagram are detailed in §9.1(for beginners) and in §13.1(for advanced
users).
Chapter A: Internal functioning & architecture
Operation & Software Manual
Direct Drives & Systems
for each motor phase. Those references are eventually sent to a PI
cx
x
c
V
c
a
c
Set point
generator
V
:
Motor real position
:
Motor speed
:
Force supplied by the motor
:
Current in the motor
:
Motor force constant
Movement manager processor
Regulation (current & position) processor
State regulator
Current
F
c
reference
Position
generator
control
F
Kt
Speed
x
estimator
x
:
c
V
:
c
F
:
c
I
:
c
a
:
c
ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
PI regulator
I
Motor
I
c
Current
control
I
Position reference
Speed reference
Force reference
Current reference in the motor
Acceleration reference
x
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