Position Profile Generation; (Position Profile Of Trapezoidal Curve For Speed Command Value) - Renesas RA6T2 Application Note

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
3.1.6

Position Profile Generation

(Position Profile of Trapezoidal Curve for Speed Command Value)

In vector control software for PMSM with encoder, the position profile generation is used to create
command value (input position value). The implementation of command value is each control cycle is used
as method of managing acceleration and the maximum speed value with respect to target position value.
MOTOR_POSITION_STEADY_STATE
u1_state_pos_pf
u1_pos_ref_mode
Speed
Position
MOTOR_POSITION_CTRL_TRIANGLE
MOTOR_POSITION_CTRL_TRAPEZOIDAL ：
following variables are required to create a command value
 Acceleration time (com_f4_accel_time)
 Maximum speed command value (com_f4_max_speed_rpm)
 Position stabilization wait time (com_u2_ref_pos_interval_time)
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
MOTOR_POSITION_TRANSITION_STATE
MOTOR_POSITION_CTRL_TRAPEZOIDAL
Constant Speed
Reference
Position
com_s2_ref_position_deg
com_u2_ref_pos_interval_time
：
f4_accel_max_speed * f4_accel_time >= f4_pos_dt_rad
f4_accel_max_speed * f4_accel_time < f4_pos_dt_rad
Figure 3-6 Position Profile Generation
MOTOR_POSITION_STEADY_STATE
MOTOR_POSITION_TRANSITION_STATE
E
MOTOR_POSITION_CTRL_TRIANGLE
com_s2_ref_position_deg
E
com_s2_max_speed_rpm
Time[s]
Time[s]
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