Function Specifications Of Vector Control With Encoder Software - Renesas RA6T2 Application Note

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

3.2 Function specifications of vector control with encoder software

The control process of the target software of this application note is mainly consisted of 50[
interrupt (carrier interrupt) and 500[
red broken line part is executed every 50[
μ
executed every 500[ s] cycle.
500us Interrupt Process
ω
_
Position P
+ Speed FF
θ_
reference
θ*
+ Position P + Speed FF
Position
Position/Speed Loop Controller
Profiling
This chapter shows the specification of 2 interrupt functions and functions executed in each interrupt cycle.
In following tables, only primary functions of the vector control with encoder are listed. Regarding the
specification of functions not listed in following tables, please refer to source codes.
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
μ
s] period interrupt. As following Figure 3-10, the control process in the
μ
s] cycle, and the control process in the blue broken line part is
reference
ω*
i *
Speed
d
PI
i ** i *
q
q
IPD Controler
Switch
ω
θ ω*
Speed
Observer
Switch
Position/Speed
Loop mode
Figure 3-10 Block Diagram of Vector Control with encoder
Carrier Interrupt Process
v *
+
d
Current -
v * v *
+
q q
PI
Voltage
+
Limit
θ
v ** v **
i
i
q
d
q d
Switch Angle
Decoupling
Adjust mode
Control
ω*
i * i *
d q
Rotor Angle
Detection
Hall Interrupt
Process
μ
v
v
dq u
u
Voltage
v
v
error
v
v PWM
Compen
v
v
w
w
UVW -sation
θ
i
i
d
u
dq
i
i
w
q
UVW
ω
Carrier Interrupt
Switch Position & Speed
Calculation Mode
θ Encoder Interrupt
Encoder Interrupt Process
s] period
M
Encoder
Encoder
A/B
Phase
signal
Page 32 of 71