Motorola M68HC08 Reference Manual page 153

NOTE:
DRM028 — Rev 0
MOTOROLA
Freescale Semiconductor, Inc.
Range: <0,255>
where the current regulator integral gain is:
KI = SPEED_PIREG_I_GAIN*2
These constants can be calculated according to regulators theory. The
speed sampling (regulator execution) period is PER_T3_RUN_US =
2.560 ms at default software setting. Another recommended solution is
experimental setting.
SPEED_PIREG_P_GAINSCALELEFT, SPEED_PIREG_P_GAIN,
SPEED_PIREG_I_GAINSCALERIGHT, SPEED_PIREG_I_GAIN can
be evaluated with PC master software tuning file tuning_bldc.pmp.
We suggest using PC master software with tuning file tuning_bldc.pmp
for regulator parameters evaluation. You can use this procedure:
1. Ensure that the start-up and commutation parameters were set
properly (Start-up Constants and Maximal Commutation
Period)6.5.4.3
2. Set const_cust_x.h:
SPEED_PIREG_P_GAINSCALELEFT 0
SPEED_PIREG_P_GAIN 0
SPEED_PIREG_I_GAINSCALERIGHT 7
SPEED_PIREG_I_GAIN 0
3. Ensure that COMMUT_REV, SPEED_RANGE_MAX_RPM,
SPEED_MAX_RPM are set properly in const_cust_x.h
4. Set SPEED_MIN_RPM as required (should be
SPEED_MIN_RPM > SPEED_MAX_RPM/5 for reliable
commutation at low speed)
User Guide
For More Information On This Product,
Go to: www.freescale.com
–
SPEED_PIREG_I_GAINSCALERIGHT
in const_cust_x.h
User Guide
Tuning for Customer Motor
(EQ 6-13.)
Designer Reference Manual
153