REFERENCE DESIGN

IRMCS2011

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16

7. Motion Control Engine

7.1 Motion Control Engine (MCE) Based Complete Servo Control

Figure 12 shows the detailed algorithm block diagram including various parameters which can be configured

through the host register interface.

Closed loop current and velocity control are implemented in the IRMCK201 IC on the IRMCS2011 board. The

closed loop current control algorithm is based on a synchronously rotating frame. The velocity control is available

as an outer loop control of the current control and can be disabled in order to configure torque control mode.

Additional configuration allows feedforward control, selection of the position feedback devices, induction machine

vector control, and selection of communication protocol.

PI

PI

θ

j

e

θ

j

e

Quadrature

Decoding

2/3

dt

+

+

Dead

time

Space

Vector PWM

IR2175

interface

IR2175

interface

CLK

BRAKE

FAULT

+

-

-

+

A/D

interface

DC bus dynamic

brake control

I1 x I2

I3

I3

I1

I2

I1 x I2

I3

I3

I1

I2

O

O

I1 x I2

I3

I3

I1

I2

O

0

+

+

PI

6

RAMP

+

-

3

2

DATA

CNVST

MUX

2

Optional

CurrentSense

Gate

Signals

3

Encoder

A/B/Z

Encoder

Hall A/B/C

Motor

Phase

Current V

Motor

Phase

Current W

Current

Offset W

Current

Offset V

ID scale

IQ scale

4096

4096

VDLIM+

VDLIM-

CURKP

CURKI

VQLIM-

VQLIM+

IDREF

INT_REF

Velocity

Control

Enable

Reference

Select

Feedforward

path enable

Slip gain

enable

EncType

Accel Rate

Decel

Rate

4096

Slip gain

IQLIM+

IQLIM-

SPDKP

SPDKI

8 channel

Serial

A/D

Interface

EXT_REF

DCV_FDBK

RS232C/

RS422

Interface

SPI

Slave

Interface

START

STOP

DIR

FLTCLR

SYNC

FAULT

PWM ACTIVE

RCV

SND

RTS

CTS

SCK

SDO

SDI

CS

17

Data

Address

Control

Host Register

Interface

Sequence

Control

IQ

ID

IQREF

VD

VQ

VQS

VDS

IV

IW

Parallel

Interface

Configuration

Registers

Monitoring

Registers

MaxEncCount

InitZval

AngleScale

InitZ

Zpol

SpdScale

PWMmode

PWMen

2Pen

GSenseU

GSenseL

ModScl

Dtime

Closed Loop Current Control

Update Rate = PWM carrier frequency x1 or x 2

Closed Loop Velocity Control, Sequencing Control

Update Rate = PWM carrier frequency / 2

Communication Modules

Optional

CurrentSense

I2C

EEPROM

Interface

2

Serial

EEPROM

Figure 12. IRMCK201 Based Complete Servo Control