Start-Up Method - Renesas RA6T2 Application Note

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder

3.1.5 Start-up method

Figure 3-4 and Figure 3-5 show the software implementation of d-axis and encoder alignment method. The
d-axis alignment method used as startup control of position control method, in initialization mode
(MTR_MODE_INIT) and Boot mode (MTR_MODE_BOOT). In drive mode (MTR_MODE_DRIVE) vector
control is implemented for PMSM with encoder. Each reference value setting of d-axis current, q-axis current
and speed is managed by respective status.
MOTOR_SENSE_ENCOD
RUN MODE
ER_MODE_INIT
I reference status
MOTOR_SPEED_ID_ZERO_CONST
d
I reference status
q
Speed reference status
Position reference status
I reference[A]
d
com_f4_ref_id
0
I reference[A]
q
0
Speed reference
[rpm]
0
Position reference
[degree]
com_s2_ref_position_deg
0
Figure 3-4 Startup Control of Vector Control with encoder Software (at position control)
MOTOR_SENSE_ENCOD
RUN MODE
MOTOR_SPEED_ID_ZERO_
I reference status
d
I reference status
q
Speed reference status
I reference[A]
d
com_f4_ref_id
0
I reference[A]
q
0
Speed reference
[rpm]
com_s2_ref_speed_rpm
0
Figure 3-5 Startup Control of Vector Control with encoder Software (at speed control)
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
MOTOR_SENSE_ENCODER_MODE_BOOT
MOTOR_SPEED_ID_UP MOTOR_SPEED_ID_CONST MOTOR_SPEED_ID_UP
MOTOR_SPEED_IQ_ZERO_CONST
MOTOR_SPEED_SPEED_ZERO_CONST
MOTOR_POSITION_CTRL_MODE_CONSTANT
MOTOR_SENSE_ENCODER_MODE_BOOT
ER_MODE_INIT
MOTOR_SPEED_ID_C
MOTOR_SPEED_I
ONST
CONST D_UP
MOTOR_SPEED_IQ_ZERO_CONST
MOTOR_SPEED_SPEED_ZERO_CONST
MOTOR_SPEED_ID_CONST
I =0 control
d
speed PI output
MOTOR_SPEED_ MOTOR_SPEED_ID_C
ID_UP ONST
I =0 control
d
speed PI output
z
MOTOR_SENSE_ENCODER_MODE_DRIVE
MOTOR_SPEED_ID_ZERO_CONST
MOTOR_SPEED_IQ_SPEED_PI_OUTPUT
MOTOR_SPEED_POSITION_CONTROL
MOTOR_POSITION_CTRL_MODE_TRAPEZOID
MOTOR_SENSE_ENCODER_MODE_DRIVE
MOTOR_SPEED_ID_ZERO_CONST
MOTOR_SPEED_IQ_SPEED_PI_OUTPUT
MOTOR_SPEED_SPEED_CHANGE
[s]
[s]
[s]
[s]
[s]
[s]
[s]
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