Functions
fsp_err_t	RM_MOTOR_ESTIMATE_Open (motor_angle_ctrl_t const p_ctrl, motor_angle_cfg_t const const p_cfg)
	Opens and configures the Angle Estimation module. Implements motor_angle_api_t::open. More...

fsp_err_t	RM_MOTOR_ESTIMATE_Close (motor_angle_ctrl_t *const p_ctrl)
	Disables specified Angle Estimation module. Implements motor_angle_api_t::close. More...

fsp_err_t	RM_MOTOR_ESTIMATE_Reset (motor_angle_ctrl_t *const p_ctrl)
	Reset variables of Angle Estimation module. Implements motor_angle_api_t::reset. More...

fsp_err_t	RM_MOTOR_ESTIMATE_CurrentSet (motor_angle_ctrl_t const p_ctrl, motor_angle_current_t const p_st_current, motor_angle_voltage_reference_t *const p_st_voltage)
	Set d/q-axis Current Data & Voltage Reference. Implements motor_angle_api_t::currentSet. More...

fsp_err_t	RM_MOTOR_ESTIMATE_SpeedSet (motor_angle_ctrl_t *const p_ctrl, float const speed_ctrl, float const damp_speed)
	Set Speed Information. Implements motor_angle_api_t::speedSet. More...

fsp_err_t	RM_MOTOR_ESTIMATE_FlagPiCtrlSet (motor_angle_ctrl_t *const p_ctrl, uint32_t const flag_pi)
	Set the flag of PI Control runs. Implements motor_angle_api_t::flagPiCtrlSet. More...

fsp_err_t	RM_MOTOR_ESTIMATE_AngleSpeedGet (motor_angle_ctrl_t const p_ctrl, float const p_angle, float const p_speed, float const p_phase_err)
	Gets the current rotor's angle and rotation speed. Implements motor_angle_api_t::angleSpeedGet. More...

fsp_err_t	RM_MOTOR_ESTIMATE_EstimatedComponentGet (motor_angle_ctrl_t const p_ctrl, float const p_ed, float *const p_eq)
	Gets estimated d/q-axis component. Implements motor_angle_api_t::estimatedComponentGet. More...

fsp_err_t	RM_MOTOR_ESTIMATE_ParameterUpdate (motor_angle_ctrl_t const p_ctrl, motor_angle_cfg_t const const p_cfg)
	Update the parameters of Angle&Speed Estimation. Implements motor_angle_api_t::parameterUpdate. More...

fsp_err_t	RM_MOTOR_ESTIMATE_InternalCalculate (motor_angle_ctrl_t *const p_ctrl)
	Calculate internal parameters. Implements motor_angle_api_t::internalCalculate. More...

fsp_err_t	RM_MOTOR_ESTIMATE_AngleAdjust (motor_angle_ctrl_t *const p_ctrl)
	Angle Adjustment Process. Implements motor_angle_api_t::angleAdjust. More...

fsp_err_t	RM_MOTOR_ESTIMATE_EncoderCyclic (motor_angle_ctrl_t *const p_ctrl)
	Encoder Cyclic Process (Call in cyclic timer). Implements motor_angle_api_t::encoderCyclic. More...

fsp_err_t	RM_MOTOR_ESTIMATE_InfoGet (motor_angle_ctrl_t const p_ctrl, motor_angle_encoder_info_t const p_info)
	Gets information of Encoder Angle Module. Implements motor_angle_api_t::infoGet. More...

fsp_err_t	RM_MOTOR_ESTIMATE_CyclicProcess (motor_angle_ctrl_t *const p_ctrl)
	Perform induction cyclic process. Implements motor_angle_api_t::cyclicProcess. More...

fsp_err_t	RM_MOTOR_ESTIMATE_SensorDataSet (motor_angle_ctrl_t const p_ctrl, motor_angle_ad_data_t const p_ad_data)
	Set sensor data. Implements motor_angle_api_t::sensorDataSet. More...

Detailed Description

Calculation proccess for the motor control on RA MCUs. This module implements the Motor angle Interface.

Overview

The motor angle and speed estimation module is used to calculate rotor angle and rotational speed in an application. This module should be called cyclically after the A/D conversion of electric current of each phase in an application.

Features

The Motor Angle and Speed Estimation Module has below features.

Calculate rotor angle [radian].
Calculate rotational speed [radian/second].

Configuration

Build Time Configurations for rm_motor_estimate

The following build time configurations are defined in fsp_cfg/rm_motor_estimate_cfg.h:

Configuration	Options	Default	Description
Parameter Checking	Default (BSP) Enabled Disabled	Default (BSP)	If selected code for parameter checking is included in the build.

Configurations for Motor > Motor Angle and Speed Estimation (rm_motor_estimate)

This module can be added to the Stacks tab via New Stack > Motor > Motor Angle and Speed Estimation (rm_motor_estimate).

Configuration	Options	Default	Description
Motor Parameter
Pole pairs	Must be a valid non-negative value.	2	Pole pairs
Motor Parameter > Resistance[ohm]	Must be a valid value	8.5F	Resistance
Motor Parameter > Inductance of d-axis[H]	Must be a valid value	0.0045F	Inductance of d-axis
Motor Parameter > Inductance of q-axis[H]	Must be a valid value	0.0045F	Inductance of q-axis
Motor Parameter > Permanent magnetic flux[Wb]	Must be a valid value	0.02159F	Permanent magnetic flux
Motor Parameter > Rotor inertia[kgm^2]	Must be a valid value	0.0000028F	Rotor inertia
Motor Parameter > Nominal current[Arms]	Must be a valid value	1.67	Nominal current
Name	Name must be a valid C symbol	g_motor_angle0	Module name.
Openloop damping	Disable Enable	Enable	Openloop damping functionally enable or disable
Natural frequency of BEMF observer	Must be a valid value	1000.0F	Natural frequency of BEMF observer
Damping ratio of BEMF observer	Must be a valid value	1.0F	Damping ratio of BEMF observer
Natural frequency of PLL Speed estimate loop	Must be a valid value	20.0F	Natural frequency of PLL Speed estimate loop
Damping ratio of PLL Speed estimate loop	Must be a valid value	1.0F	Damping ratio of PLL Speed estimate loop
Control period	Must be a valid value	0.00005F	Control period

Clock Configuration

This module doesn't depend on clock setting, because this module is a simple calculation process.

Pin Configuration

This module does not use I/O pins.

Usage Notes

Limitations

Developers should be aware of the following limitations when using the Motor Angle and Speed Estimation:

Examples

Basic Example

This is a basic example of minimal use of the Motor Angle and Speed Estimation in an application.

void motor_estimate_basic_example (void)
{
    fsp_err_t             err = FSP_SUCCESS;
    motor_angle_current_t smpl_current:
    motor_angle_voltage_reference_t smpl_voltage;
    /* Initializes the module. */
    err = RM_MOTOR_ESTIMATE_Open(&g_mtr_angle0_ctrl, &g_mtr_angle_set0_cfg);
    assert(FSP_SUCCESS == err);
    /* Basically run this module at A/D conversion finish interrupt.
     * This implementation is an example. */
    while (true)
    {
        /* Application work here. */
        /* Set PI Control Flag before get Angle/Speed and Estimated Component */
        (void) RM_MOTOR_ESTIMATE_FlagPiCtrlSet(&g_mtr_angle0_ctrl, 1U);
        smpl_current.id = 1.0F;
        smpl_current.iq = 1.0F;
        smpl_voltage.vd = 10.0F;
        smpl_voltage.vq = 10.0F;
        /* Set Current and Speed data before get Angle/Speed and Estimated Component */
        (void) RM_MOTOR_ESTIMATE_CurrentSet(&g_mtr_angle0_ctrl, smpl_current, smpl_voltage);
        /* Set Internal Speed Reference & damping speed data before get Angle/Speed and Estimated Component */
        (void) RM_MOTOR_ESTIMATE_SpeedSet(&g_mtr_angle0_ctrl, 104.27F, 10.0F);
        /* Get Angle/Speed data */
        (void) RM_MOTOR_ESTIMATE_AngleSpeedGet(&g_mtr_angle0_ctrl, &f_get_angle, &f_get_speed, &f_get_phase_err);
        /* Get Estimated Component */
        (void) RM_MOTOR_ESTIMATE_EstimatedComponentGet(&g_mtr_angle0_ctrl, &f_get_ed, &f_get_eq);
    }
}

Function Documentation

◆ RM_MOTOR_ESTIMATE_Open()

fsp_err_t RM_MOTOR_ESTIMATE_Open	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_cfg_t const *const	p_cfg
	)

Opens and configures the Angle Estimation module. Implements motor_angle_api_t::open.

Return values

FSP_SUCCESS	MTR_ANGL_EST successfully configured.
FSP_ERR_ASSERTION	Null pointer, or one or more configuration options is invalid.
FSP_ERR_ALREADY_OPEN	Module is already open. This module can only be opened once.
FSP_ERR_INVALID_ARGUMENT	Configuration parameter error.

◆ RM_MOTOR_ESTIMATE_Close()

fsp_err_t RM_MOTOR_ESTIMATE_Close ( motor_angle_ctrl_t *const p_ctrl )

Disables specified Angle Estimation module. Implements motor_angle_api_t::close.

Return values

FSP_SUCCESS	Successfully closed.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_Reset()

fsp_err_t RM_MOTOR_ESTIMATE_Reset ( motor_angle_ctrl_t *const p_ctrl )

Reset variables of Angle Estimation module. Implements motor_angle_api_t::reset.

Return values

FSP_SUCCESS	Successfully reset.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_CurrentSet()

fsp_err_t RM_MOTOR_ESTIMATE_CurrentSet	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_current_t *const	p_st_current,
		motor_angle_voltage_reference_t *const	p_st_voltage
	)

Set d/q-axis Current Data & Voltage Reference. Implements motor_angle_api_t::currentSet.

Return values

FSP_SUCCESS	Successfully set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_SpeedSet()

fsp_err_t RM_MOTOR_ESTIMATE_SpeedSet	(	motor_angle_ctrl_t *const	p_ctrl,
		float const	speed_ctrl,
		float const	damp_speed
	)

Set Speed Information. Implements motor_angle_api_t::speedSet.

Return values

FSP_SUCCESS	Successfully set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_FlagPiCtrlSet()

fsp_err_t RM_MOTOR_ESTIMATE_FlagPiCtrlSet	(	motor_angle_ctrl_t *const	p_ctrl,
		uint32_t const	flag_pi
	)

Set the flag of PI Control runs. Implements motor_angle_api_t::flagPiCtrlSet.

Return values

FSP_SUCCESS	Successfully set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_AngleSpeedGet()

fsp_err_t RM_MOTOR_ESTIMATE_AngleSpeedGet	(	motor_angle_ctrl_t *const	p_ctrl,
		float *const	p_angle,
		float *const	p_speed,
		float *const	p_phase_err
	)

Gets the current rotor's angle and rotation speed. Implements motor_angle_api_t::angleSpeedGet.

Return values

FSP_SUCCESS	Successful data get.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_EstimatedComponentGet()

fsp_err_t RM_MOTOR_ESTIMATE_EstimatedComponentGet	(	motor_angle_ctrl_t *const	p_ctrl,
		float *const	p_ed,
		float *const	p_eq
	)

Gets estimated d/q-axis component. Implements motor_angle_api_t::estimatedComponentGet.

Return values

FSP_SUCCESS	Successfully data gotten.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_ParameterUpdate()

fsp_err_t RM_MOTOR_ESTIMATE_ParameterUpdate	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_cfg_t const *const	p_cfg
	)

Update the parameters of Angle&Speed Estimation. Implements motor_angle_api_t::parameterUpdate.

Return values

FSP_SUCCESS	Successfully data is update.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_InternalCalculate()

fsp_err_t RM_MOTOR_ESTIMATE_InternalCalculate ( motor_angle_ctrl_t *const p_ctrl )

Calculate internal parameters. Implements motor_angle_api_t::internalCalculate.

Return values

FSP_ERR_UNSUPPORTED	Unsupported.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_AngleAdjust()

fsp_err_t RM_MOTOR_ESTIMATE_AngleAdjust ( motor_angle_ctrl_t *const p_ctrl )

Angle Adjustment Process. Implements motor_angle_api_t::angleAdjust.

Return values

FSP_ERR_UNSUPPORTED	Unsupported.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_EncoderCyclic()

fsp_err_t RM_MOTOR_ESTIMATE_EncoderCyclic ( motor_angle_ctrl_t *const p_ctrl )

Encoder Cyclic Process (Call in cyclic timer). Implements motor_angle_api_t::encoderCyclic.

Return values

FSP_ERR_UNSUPPORTED	Unsupported.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_InfoGet()

fsp_err_t RM_MOTOR_ESTIMATE_InfoGet	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_encoder_info_t *const	p_info
	)

Gets information of Encoder Angle Module. Implements motor_angle_api_t::infoGet.

Return values

FSP_ERR_UNSUPPORTED	Unsupported.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_ESTIMATE_CyclicProcess()

fsp_err_t RM_MOTOR_ESTIMATE_CyclicProcess ( motor_angle_ctrl_t *const p_ctrl )

Perform induction cyclic process. Implements motor_angle_api_t::cyclicProcess.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

◆ RM_MOTOR_ESTIMATE_SensorDataSet()

fsp_err_t RM_MOTOR_ESTIMATE_SensorDataSet	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_ad_data_t *const	p_ad_data
	)

Set sensor data. Implements motor_angle_api_t::sensorDataSet.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_estimate

Configurations for Motor > Motor Angle and Speed Estimation (rm_motor_estimate)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Function Documentation

◆ RM_MOTOR_ESTIMATE_Open()

◆ RM_MOTOR_ESTIMATE_Close()

◆ RM_MOTOR_ESTIMATE_Reset()

◆ RM_MOTOR_ESTIMATE_CurrentSet()

◆ RM_MOTOR_ESTIMATE_SpeedSet()

◆ RM_MOTOR_ESTIMATE_FlagPiCtrlSet()

◆ RM_MOTOR_ESTIMATE_AngleSpeedGet()

◆ RM_MOTOR_ESTIMATE_EstimatedComponentGet()

◆ RM_MOTOR_ESTIMATE_ParameterUpdate()

◆ RM_MOTOR_ESTIMATE_InternalCalculate()

◆ RM_MOTOR_ESTIMATE_AngleAdjust()

◆ RM_MOTOR_ESTIMATE_EncoderCyclic()

◆ RM_MOTOR_ESTIMATE_InfoGet()

◆ RM_MOTOR_ESTIMATE_CyclicProcess()

◆ RM_MOTOR_ESTIMATE_SensorDataSet()