Renesas RA6T2 Application Note page 46

Sensorless vector control for permanent magnetic
synchronous motor - 1shunt current detection
Table 3-10 List of Functions Executed in Current Control Period Interrupt (4/4)
File name
rm_motor_current.c
librm_motor_current.a
rm_motor_estimate.c
r_gpt_three_phase.c
R01AN6840EJ0100 Rev.1.00
May 23, 2023
Function name
motor_current_transform_dq_uvw_abs
Input : (const float) f_angle / Rotor angle
(const float *) f_uvw / Where to store the [U,V,W] formated 3-phase
quantities array
(float *) f_dq / The pointer to the dq-axis value array in [D,Q] format
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_ESTIMATE_FlagPiCtrlSet
Input : (motor_angle_ctrl_t * const) p_ctrl / Pointer to control structure
(uint32_t const) flag_pi / The flag of PI control runs
Output : fsp_err_t / Execution result
RM_MOTOR_ESTIMATE_SpeedSet
Input : (motor_angle_ctrl_t * const) p_ctrl / Pointer to control structure
(float const) speed_ctrl / Control reference of rotational speed
(float const) damp_speed / Damping rotational speed
Output : fsp_err_t / Execution result
RM_MOTOR_ESTIMATE_CurrentSet
Input : (motor_angle_ctrl_t * const) p_ctrl / Pointer to control structure
(motor_angle_current_t * const) p_st_current / Pointer to current
structure
(motor_angle_voltage_reference_t * const) p_st_voltage / Pointer to
voltage Reference structure
Output : fsp_err_t / Execution result
RM_MOTOR_ESTIMATE_AngleSpeedGet
Input : (motor_angle_ctrl_t * const) p_ctrl / Pointer to control structure
(float * const) p_angle / Memory address to get rotor angle data
(float * const) p_speed / Memory address to get rotational speed data
(float * const) p_phase_err / Memory address to get phase(angle) error
data
Output : fsp_err_t / Execution result
RM_MOTOR_ESTIMATE_EstimatedComponentGet
Input : (motor_angle_ctrl_t * const) p_ctrl / Pointer to control structure
(float * const) p_ed / Memory address to get estimated d-axis
component
(float * const) p_eq / Memory address to get estimated q-axis
component
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
For Renesas Flexible Motor Control Series
Process overview
Coordinate transform
dq to UVW 3-phase
(absolute transform)
Voltage error
compensation
Set the flag of PI
Control runs.
Set Speed Information
Set d/q-axis Current
Data & Voltage
Reference.
Gets the current rotor's
angle and rotation
speed.
Gets estimated d/q-axis
component.
Sets duty cycle for all
three timers.
Page 46 of 73