Datenblatt-Suchmaschine für elektronische Bauteile |
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TMC4671 Datenblatt(PDF) 46 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4671 Datenblatt(HTML) 46 Page - TRINAMIC Motion Control GmbH & Co. KG. |
46 / 157 page TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11 46 / 157 4.8.6 PI Velocity Controller The P part is represented as q8.8 and I is the I part represented as q0.15. 4.8.7 P Position Controller For the position regulator, the P part is represented as q4.12 to be compatible with the high resolution positions - one single rotation is handled as an s16. For the advanced controller structure the P part is represented by q8.8. 4.8.8 Inner FOC Control Loop - Flux & Torque The inner FOC loop ( gure 26) controls the ux current to the ux target value and the torque current to the desired torque target. The inner FOC loop performs the desired transformations according to gure 27 for 3-phase motors (FOC3). For 2-phase motors (FOC2) both Clarke (CLARKE) transformation and inverse Clarke (iCLARKE) are bypassed. For control of DC motors, transformations are bypassed and only the rst full bridge (connected to X1 and X2) is used. The inner FOC control loop gets a target torque value (I_Q_TARGET) which represents acceleration, the rotor position, and the measured currents as input data. Together with the programmed P and I parameters, the inner FOC loop calculates the target voltage values as input for the PWM engine. Figure 26: Inner FOC Control Loop 4.8.9 FOC Transformations and PI(D) for control of Flux & Torque The Clarke transformation (CLARKE) maps three motor phase currents (IU , IV , IW ) to a two-dimensional coordinate system with two currents (Iα, Iβ). Based on the actual rotor angle determined by an encoder or via sensorless techniques, the Park transformation (PARK) maps these two currents to a quasi-static coordinate system with two currents (ID, IQ). The current ID represents ux and the current IQ represents torque. The ux just pulls on the rotor but does not affect torque. The torque is affected by IQ. Two PI controllers determine two voltages (UD, UQ) to drive desired currents for a target torque and a target ux. The determined voltages (UD, UQ) are re-transformed into the stator system by the inverse Park transformation (iPARK). The inverse Clarke Transformation (iCLARKE) transforms these two currents into three voltages (UU , UV , UW ). Theses three voltage are the input of the PWM engine to drive the power stage. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com |
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