Renesas RA6T2 Application Note page 42

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-15 Configuration Options for Speed Control [2/2]
Configuration Options (rm_motor_speed.h)
Options
Design parameter | Speed PI loop omega
Initial: 30.0F
Design parameter | Speed PI loop zeta
Initial: 1.0F
Design parameter | Cutoff frequency of phase
error LPF
Initial: 10.0F
Design parameter | Speed observer omega
Initial: 200.0F
Design parameter | Speed observer zeta
Initial: 1.0F
Motor Parameter | Pole pairs
Initial: 4U
Motor Parameter | Resistance (ohm)
Initial: 0.84F
Motor Parameter | Inductance of d-axis (H)
Initial: 0.0011F
Motor Parameter | Inductance of q-axis (H)
Initial: 0.0011F
Motor Parameter | Permanent magnetic flux (Wb)
Initial: 0.00623F
Motor Parameter | Rotor inertia (kgm^2)
Initial: 0.0000041F
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Description
Speed PI Control parameter omega.
Speed PI Control parameter zeta.
The cut-off frequency [Hz] of phase error LPF gain
design.
Speed observer omega.
Speed observer zeta.
Pole pairs of target motor.
Resistance of motor [ohm].
D-axis inductance [H].
Q-axis inductance [H].
Magnetic flux [Wb].
Rotor inertia [kgm^2].
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