Renesas RA6T2 Application Note page 36

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-9 List of Functions Executed in 50[µs] Period Interrupt (4/4)
File name
rm_motor_current.c
librm_motor_current.a
rm_motor_sense_encoder.c
r_gpt_three_phase.c
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Function name
motor_current_transform_dq_uvw_abs
Input : (const float) f_angle / Rotor angle
(const float *) f_dq / The pointer to the dq-axis value array in [D,Q]
format
(float *) f_uvw / Where to store the [U,V,W] formated 3-phase
quantities array
Output :None
rm_motor_voltage_error_compensation_main
Input : (motor_currnt_voltage_compensation_t *) st_volt_comp /
Voltage error compensation data
(float *) p_f4_v_array / Reference voltage
(float *) p_f4_i_array / Reference current
(float) f4_vdc / Bus voltage
Output :None
RM_MOTOR_SENSE_ENCODER_InternalCalculate
Input : (motor_angle_ctrl_t * const) p_ctrl / Pointer to control structure
Output : fsp_err_t / Execution result
RM_MOTOR_SENSE_ENCODER_AngleSpeedGet
Input : (motor_angle_ctrl_t * const) p_ctrl / Pointer to control structure
(float * const) p_angle / Pointer to get angle data
(float * const) p_seed / Pointer to get speed data
(float * const) p_phase_err / Pointer to get phase error data
Output : fsp_err_t / Execution result
R_GPT_THREE_PHASE_DutyCycleSet
Input : (three_phase_ctrl_t * const) p_ctrl / Control block set in @ref
three_phase_api_t::open call for this timer
(three_phase_duty_cycle_t * const) p_duty_cycle / Duty cycle values
for all three timer channels
Output : fsp_err_t / Execution result
Process overview
Coordinate transform dq
to UVW 3-phase (absolute
transform)
Voltage error
compensation
Calculation of angle and
speed according to
measured encoder signal.
Get angle, speed and
phase error data about the
roter.
Sets duty cycle for all
three timers.
Page 36 of 71