UM-YROTATE-IT-RX62T datasheet(20/54 Pages) RENESAS

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RX62T

YROTATE-IT-RX62T Motor Control Kit

UM-YROTATE-IT-RX62T Rev.1.00

Page 20 of 51

Jan 15, 2014

The reference frame transformations from the (

α,β) system to the (d, q) system depends on the instantaneous

position angle

ϑϑ

So we obtain two inter-dependant equations in the (d, q) system:

−

These two equations represent the mathematical motor model.

A control algorithm which wants to produce determined currents in the (d, q) system must impose voltages given

from the formulas above.

This is ensured by closed loop PI control on both axis “d” & “q” (Proportional Integral).

Since there is a mutual influence between the two axes, decoupling terms can be used.

In the block scheme the mechanic part is included, where “p” is the number of pole pairs, while “B” represents

friction, “J” the inertia, “

load“ the load torque and “

τ” the motor torque.

The angular speed

ω is represented in the scheme as ω

e to distinguish the electrical speed from the mechanical one.

Let’s now consider the equations we have seen in (

α,β) system:

1/(R+sL)

(3/2)p

1/(B+sJ)

τload

ωmec

ωe

Λωe

UM-YROTATE-IT-RX62T 数据表(PDF) 20 Page - Renesas Technology Corp