AN1917D Freescale Semiconductor / Motorola, AN1917D Datasheet - Page 10

• Manufacturer Part Number: AN1917D
• Description: 3-Phase PM Synchronous Motor Control with Quadrature Encoder Using DSP56F80x
• Manufacturer: Freescale Semiconductor / Motorola

10
System Concept
4.
4.1 System Outline
e(t), e( )
e(k)
w(k)
m(k)
u(k)
u
u
u
T
T
K
t,
p
p
I
I
I
c
(k)
(k-1)
(k)
The speed controller calculates a Proportional-Integral (PI) algorithm according to the equations
below:
After transformation to a discrete time domain using an integral approximation by a Backward Euler
method, we get the following equations for the numerical PI controller calculation:
where:
The system is designed to drive a 3-phase PM Synchronous motor. The application meets the
following performance specification:
•
•
•
System Concept
Voltage control of PM Synchronous motor using Quadrature Encoder
Targeted for DSP56F803EVM, DSP56F805EVM, DSP56F807EVM
Running on a 3-phase EVM Motor Board
is the input error in time t,
is the input error in step k
is the desired value in step k
is the measured value in step k
is the controller output in step k
is the proportional output portion in step k
is the integral output portion in step k
is the integral output portion in step k-1
is the integral time constant
is the sampling time
is the controller gain
is the time
is the Laplace variable
3-Phase PMSM Control with Quadrature Encoder
Freescale Semiconductor, Inc.
For More Information On This Product,
u
u t
I
k
=
u k
Go to: www.freescale.com
=
u
K
P
u
c
I
=
k
e t
k 1
u
=
–
P
K
+
k
c
---- -
T
+
1
+
I
e k
K
u
0
c
I
e
---- - e k
T
T
k
I
d
MOTOROLA
(EQ 3-4.)
(EQ 3-5.)
(EQ 3-6.)
(EQ 3-7.)