Control Algorithm Design

Create controller algorithm for motor control system

Create the torque-control and speed-control subsystems, verify the target execution time, and tune the control gains.

Note

The blocks listed here are compliant with the MISRA C^® guidelines.

Blocks

ACIM Control Reference	Compute reference currents for field-oriented control of induction motor
ACIM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
ACIM Slip Speed Estimator	Calculate slip speed of AC induction motor
ACIM Torque Estimator	Estimate electromechanical torque and power
DQ Limiter	Saturate voltages (or current) in the dq reference frame
MTPA Control Reference	Compute reference currents for Maximum Torque Per Ampere (MTPA) and field-weakening operation
PMSM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
PMSM Torque Estimator	Estimate electromechanical torque and power
Position Generator	Generate position ramp of fixed frequency
Six Step Commutation	Generate switching sequence for six-step commutation of brushless DC (BLDC) motor
Vector Control Reference	Compute d and q axis components of reference vector

Derating Function	Compute derating factor
PI Controller	Discrete-time PID Controller
Field Oriented Control Autotuner	Automatically and sequentially tune multiple PID control loops in field-oriented control application

3-Phase Sine Voltage Generator	Generate balanced three-phase sinusoidal signals
atan2	Compute four-quadrant arctangent
Clarke Transform	Implement ab to αβ transformation
Inverse Clarke Transform	Implement αβ to abc transformation
Inverse Park Transform	Implement dq to αβ transformation
Park Transform	Implement αβ to dq transformation
Sine-Cosine Lookup	Implement sine and cosine functions using lookup table approach
PWM Reference Generator	Generate modulated signals from phase voltages

Protection Relay	Implement protection relay with definite minimum time (DMT) trip characteristics
Host Serial Receive	Receive binary data over serial port
Host Serial Setup	Configure parameters for serial port
Host Serial Transmit	Send binary data over serial port

Hall Speed and Position	Compute speed and estimate position of rotor by using Hall sensors
Hall Validity	Compute rotor spin direction and validity of Hall sensor sequence
Mechanical to Electrical Position	Compute electrical position of rotor from mechanical position
Quadrature Decoder	Compute position of quadrature encoder
Resolver Decoder	Compute electrical angular position of resolver
Software Watchdog Timer	Output true until counter reaches maximum count limit
Speed Measurement	Compute speed from rotor angular position

Sliding Mode Observer	Compute electrical position and mechanical speed of a surface-mount PMSM
Flux Observer	Compute electrical position, magnetic flux, and electrical torque of rotor

IIR Filter	Implement infinite impulse response (IIR) filter
Vector plot	Plot vectors in space domain

Design Field-Oriented Control Algorithm

Design and integrate the torque-control and speed-control subsystems.
- STEP 1: Design Current and Position Scaling Subsystems
- STEP 2: Design Current Controller Subsystem
- STEP 3: Perform Manual Gain-Tuning of Current Controller
- STEP 4: Design Speed Control Algorithm
- STEP 5: Perform Manual Gain-Tuning of Speed Controller
Estimate Control Gains and Use Utility Functions
Perform control parameter tuning for speed and torque control subsystems.
Code Verification and Profiling Using PIL Testing
Verify the torque-control and speed-control subsystems.