Renesas RA6T2 Application Note page 35

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-8 List of Functions Executed in 50[µs] Period Interrupt (3/4)
File name
rm_motor_current.c
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Function name
motor_current_angle_cyclic
Input : (motor_current_instance_t *) p_instance / The pointer to current
control module control instance
Output :None
RM_MOTOR_CURRENT_SpeedPhaseSet
Input : (motor_current_ctrl_t * const) p_ctrl / Pointer to control structure
(float const) speed_rad / Rotational speed
(float const) phase_rad / Rotor phase
Output : fsp_err_t / Execution result
RM_MOTOR_CURRENT_CurrentReferenceSet
Input : (motor_current_ctrl_t * const) p_ctrl / Pointer to control structure
(float const) speed_rad / D-axis current Reference
(float const) phase_rad / Q-axis current Reference
Output : fsp_err_t / Execution result
RM_MOTOR_CURRENT_PhaseVoltageGet
Input : (motor_current_ctrl_t * const) p_ctrl / Pointer to control structure
(motor_current_get_voltage_t * const) p_voltage / Pointer to get
Voltages
Output : fsp_err_t / Execution result
motor_current_pi_calculation
Input : (motor_current_instance_ctrl_t *) p_instance / The pointer to
the FOC current control structure
Output :None
motor_current_pi_control
Input : (motor_current_pi_params_t *) pi_ctrl / The pointer to the PI
control structure
Output : float / PI control output value
motor_current_limit_abs
Input : (float) f4_value / Target value
(float) f4_limit_value / Limit
Output : float / Limited value
motor_current_decoupling
Input : (motor_current_instance_ctrl_t *) p_ctrl / The pointer to the
FOC current control instance
(float) f_speed_rad / The electrical speed
(const motor_current_motor_parameter_t *) p_mtr / The pointer to the
motor parameter data structure
Output :None
motor_current_voltage_limit
Input : (motor_current_instance_ctrl_t *) p_ctrl / The pointer to the
FOC current control structure
Output :None
Process overview
Angle/Speed Process in
Cyclic Process of Current
Control
Set Current Speed & rotor
phase Data.
Set Current Reference
Data
Gets the set phase
voltage.
Calculates the output
voltage vector from
current vector command
and actual current vector
PI control
Limit with absolute value
Decoupling control
Limit voltage vector
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