Renesas RA6T2 Application Note page 51

Sensorless vector control for permanent magnetic
synchronous motor - 1shunt current detection
Table 3-17 Configuration Options for Speed Control [1/2]
Configuration Options (rm_motor_speed.h)
Options
Speed control period (sec)
Step of speed climbing (rpm)
Maximum rotational speed (rpm)
Speed LPF omega
Speed at Id climbing (rpm)
Limit of q-axis current (A)
Step of speed feedback at open-loop
Open-loop damping
Flux weakening
Torque compensation for sensorless
transition
Motor Parameter | Pole pairs
Motor Parameter | Resistance (ohm)
Motor Parameter | Inductance of d-
axis (H)
Motor Parameter | Inductance of q-
axis (H)
Motor Parameter | Permanent
magnetic flux (Wb)
Motor Parameter | Rotor inertia
(kgm^2)
Table 3-18 Configuration Options initial value(rm_motor_speed.h) [1/2]
Options
Speed control period (sec)
Step of speed climbing (rpm)
Maximum rotational speed (rpm)
Speed LPF omega
Speed at Id climbing (rpm)
Limit of q-axis current (A)
Step of speed feedback at open-loop
Open-loop damping
Flux weakening
Torque compensation for sensorless
transition
Motor Parameter | Pole pairs
Motor Parameter | Resistance (ohm)
Motor Parameter | Inductance of d-axis (H)
Motor Parameter | Inductance of q-axis (H)
Motor Parameter | Permanent magnetic
flux (Wb)
Motor Parameter | Rotor inertia (kgm^2)
R01AN6840EJ0100 Rev.1.00
May 23, 2023
For Renesas Flexible Motor Control Series
Description
The period of speed control process [sec].
The step of speed fluctuation [rpm]. Program controls
speed by this step at acceleration and deceleration.
Maximum rotational speed [rpm]
Speed LPF parameter omega [Hz].
The threshold speed to control d-axis current increase
[rad/s].
Program increases d-axis current at start up the motor
rotation until the speed reaches this value.
Limit of q-axis current [A].
Rate of reference speed for feedback speed limiter at
Open-Loop.
Select enable/disable of damping control at Open-Loop.
Select enable/disable of flux weakening control at high
speed.
Select enable/disable of soft switching at the transition
from Open-Loop to PI control.
Pole pairs of target motor.
Resistance of motor [ohm].
D-axis inductance [H].
Q-axis inductance [H].
Magnetic flux [Wb].
Rotor inertia [kgm^2].
RA6T2 RA4T1
0.001 0.002
0.5 0.5
2400 2400
10.0 10.0
500 400
1.67 1.67
0.2 0.2
Enable Enable
Disable Disable
Enable Enable
4 4
1.3 1.3
0.0013 0.0013
0.0013 0.0013
0.01119 0.01119
0.000003666 0.000003666
RA6T3
0.001
0.5
2400
10.0
400
1.67
0.2
Enable
Disable
Enable
4
1.3
0.0013
0.0013
0.01119
0.000003666
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