Motor Speed Controller (rm_motor_speed)

Functions
fsp_err_t	RM_MOTOR_SPEED_Open (motor_speed_ctrl_t *const p_ctrl, motor_speed_cfg_t const *const p_cfg)
	Opens and configures the Motor Speed Module. Implements motor_speed_api_t::open. More...
fsp_err_t	RM_MOTOR_SPEED_Close (motor_speed_ctrl_t *const p_ctrl)
	Disables specified Motor Speed Module. Implements motor_speed_api_t::close. More...
fsp_err_t	RM_MOTOR_SPEED_Reset (motor_speed_ctrl_t *const p_ctrl)
	Reset the variables of Motor Speed Module. Implements motor_speed_api_t::reset. More...
fsp_err_t	RM_MOTOR_SPEED_Run (motor_speed_ctrl_t *const p_ctrl)
	Run(Start) the Motor Speed Control. Implements motor_speed_api_t::run. More...
fsp_err_t	RM_MOTOR_SPEED_SpeedReferenceSet (motor_speed_ctrl_t *const p_ctrl, float const speed_reference_rpm)
	Set Speed Reference Data. Implements motor_speed_api_t::speedReferenceSet. More...
fsp_err_t	RM_MOTOR_SPEED_PositionReferenceSet (motor_speed_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position_data)
	Set Position Reference Data. Implements motor_speed_api_t::positionReferenceSet. More...
fsp_err_t	RM_MOTOR_SPEED_ParameterSet (motor_speed_ctrl_t *const p_ctrl, motor_speed_input_t const *const p_st_input)
	Set Input parameters. Implements motor_speed_api_t::parameterSet. More...
fsp_err_t	RM_MOTOR_SPEED_SpeedControl (motor_speed_ctrl_t *const p_ctrl)
	Calculates the d/q-axis current reference.(Main process of Speed Control) Implements motor_speed_api_t::speedControl. More...
fsp_err_t	RM_MOTOR_SPEED_ParameterGet (motor_speed_ctrl_t *const p_ctrl, motor_speed_output_t *const p_st_output)
	Get Speed Control Parameters. Implements motor_speed_api_t::parameterGet. More...
fsp_err_t	RM_MOTOR_SPEED_ParameterUpdate (motor_speed_ctrl_t *const p_ctrl, motor_speed_cfg_t const *const p_cfg)
	Update the parameters of Speed Control Calculation. Implements motor_speed_api_t::parameterUpdate. More...

Detailed Description

Calculation process for the motor control on RA MCUs. This module implements the Motor speed Interface.

Overview

The motor speed is used to control the speed of motor rotation in an appication. This module should be called cyclically in an application (e.g. in cyclic timer interrupt). This module caliculates d/q-axis current reference with input speed reference, current rotational speed, and d/q-axis current.

Features

The motor speed module has below features.

• Calculate d/q-axis electric current reference.
• Flux weakening process at high speed rotation.
• Open loop damping control when using sensorless type.
• Low pass filter of input rotational speed.
• Speed observer function when using encoder type.

Configuration

Build Time Configurations for rm_motor_speed

The following build time configurations are defined in fsp_cfg/rm_motor_speed_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.
Position Support	Enabled Disabled	Disabled	Enable position algorithm support.

Configurations for Motor > Motor Speed Controller (rm_motor_speed)

This module can be added to the Stacks tab via New Stack > Motor > Motor Speed Controller (rm_motor_speed).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_speed0	Module name.
Speed control period (sec)	Must be a valid value	0.0005F	Period of speed control function.
Step of speed climbing (rpm)	Must be a valid value	0.5F	Step of speed change at start of open-loop.
Maximum rotational speed (rpm)	Manual Entry	2650	Maximum rotational speed (Limit speed).
Speed LPF omega	Must be a valid value	10.0F	Design parameter for speed LPF.
Limit of q-axis current (A)	Must be a valid value	0.42F	Limit of q-axis current.
Step of speed feedback at open-loop	Must be a valid value	0.20F	Step of speed feedback at open-loop.
Natural frequency	Must be a valid non-negative value.	100.0	Natural frequency for disturbance speed observer.
Open-loop damping	Disable Enable	Enable	Select enable/disable Open-loop damping control.
Flux weakening	Disable Enable	Disable	Select enable/disable flux weakening control.
Torque compensation for sensorless transition	Disable Enable	Enable	Select enable/disable torque compensation for sensorless transition.
Speed observer	Disable Enable	Enable	Select enable/disable Speed observer process.
Selection of speed observer	Normal Disturbance	Normal	Select speed observer type.
Control method	PID IPD	PID	Select the control method [PID or IPD].
Control type	Sensoreless Encoder Induction Hall	Sensoreless
Open-Loop
Step of d-axis current climbing	Must be a valid value	0.3F	Step of d-axis current climbing
Step of d-axis current descending	Must be a valid value	0.3F	Step of d-axis current descending
Step of q-axis current descending ratio	Must be a valid value	1.0F	Step of q-axis current descending ratio
Reference of d-axis current	Must be a valid value	0.3F	Reference of d-axis current
Threshold of speed control descending	Manual Entry	600	When rotational speed reaches this speed, d-axis current is controlled descending.
Threshold of speed control climbing	Manual Entry	500	Until rotational speed reaches this speed, d-axis current is controlled climbing.
Period between open-loop to BEMF (sec)	Must be a valid value	0.025F	Margin time between open-loop control changes to BEMF PI control.
Phase error(degree) to decide sensor-less switch timing	Manual Entry	10	Phase error(degree) to decide sensor-less switch timing.
Design parameter
Speed PI loop omega	Must be a valid value	5.0F	Speed PI loop omega
Speed PI loop zeta	Must be a valid value	1.0F	Speed PI loop zeta
Estimated d-axis HPF omega	Must be a valid value	2.5F	HPF cutoff frequency for ed (Hz)
Open-loop damping zeta	Must be a valid value	1.0F	Damping ratio of open-loop damping control
Cutoff frequency of phase error LPF	Must be a valid value	10.0F	Cutoff frequency of phase error LPF
Speed observer omega	Must be a valid value	200.0F	Speed observer loop omega
Speed observer zeta	Must be a valid value	1.0F	Speed observer loop zeta
Motor Parameter
Pole pairs	Manual Entry	2	Pole pairs
Resistance (ohm)	Must be a valid value	8.5F	Resistance
Inductance of d-axis (H)	Must be a valid value	0.0045F	Inductance of d-axis
Inductance of q-axis (H)	Must be a valid value	0.0045F	Inductance of q-axis
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
Interrupts
Callback	Name must be a valid C symbol	NULL	A user callback function. If this callback function is provided, it is called at timer interrupt.
Input data	Name must be a valid C symbol	NULL	Structure for Speed control Input. If you set this content, Speed Control function read these data automatically. (No need to use Set API.)
Output data	Name must be a valid C symbol	NULL	Structure for Speed control Output. If you set this content, Speed Control function write need data automatically. (No need to use Get API.)

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

• Set the period of speed control with none-negative value.
• Set the limit of speed change step with none-negative value.
• Set the maximum speed with none-negative value.

Examples

Basic Example

This is a basic example of minimal use of the motor speed in an application.

void motor_speed_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;


    /* Initializes the module. */
    err = RM_MOTOR_SPEED_Open(g_motor_speed0.p_ctrl, g_motor_speed0.p_cfg);


    handle_error(err);


    /* Set speed reference before get current reference */
    (void) RM_MOTOR_SPEED_SpeedReferenceSet(g_motor_speed0.p_ctrl, 104.72F);



    /* Set position reference before get current reference
     * (Basically Exclusive to SpeedReferenceSet. This is only sample,) */
    (void) RM_MOTOR_SPEED_PositionReferenceSet(g_motor_speed0.p_ctrl, &g_posref_sample);


    /* Basically run this module at cyclic interrupt (e.g. AGT timer).
     * This implementation is an example. */

    // while (true)
    {
        /* Application work here. */


        /* Set input parameter data before get current reference */
        (void) RM_MOTOR_SPEED_ParameterSet(g_motor_speed0.p_ctrl, &g_test_speed_input);



        /* Activate Speed Process */
        (void) RM_MOTOR_SPEED_Run(g_motor_speed0.p_ctrl);



        /* Perform Speed Control Process */
        (void) RM_MOTOR_SPEED_SpeedControl(g_motor_speed0.p_ctrl);



        /* Get output parameters */
        (void) RM_MOTOR_SPEED_ParameterGet(g_motor_speed0.p_ctrl, &g_test_speed_output);

        //

        /* Update parameters */
        (void) RM_MOTOR_SPEED_ParameterUpdate(g_motor_speed0.p_ctrl, &g_motor_speed0.p_cfg);

    }


    /* Reset Speed Control */
    (void) RM_MOTOR_SPEED_Reset(g_motor_speed0.p_ctrl);



    /* Close Speed Control */
    (void) RM_MOTOR_SPEED_Close(g_motor_speed0.p_ctrl);

}

Enumerations
enum	motor_speed_control_type_t
enum	motor_speed_openloop_damping_t
enum	motor_speed_flux_weaken_t
enum	motor_speed_less_switch_t
enum	motor_speed_observer_switch_t
enum	motor_speed_observer_select_t
enum	motor_speed_ctrl_status_t

Enumeration Type Documentation

motor_speed_control_type_t

enum motor_speed_control_type_t

Enumerator
MOTOR_SPEED_CONTROL_TYPE_SENSORLESS	Sensorless type.
MOTOR_SPEED_CONTROL_TYPE_ENCODER	Encoder type.
MOTOR_SPEED_CONTROL_TYPE_HALL	Hall type.
MOTOR_SPEED_CONTROL_TYPE_INDUCTION	Induction type.

motor_speed_openloop_damping_t

enum motor_speed_openloop_damping_t

Enumerator
MOTOR_SPEED_OPENLOOP_DAMPING_DISABLE	Disable openloop damping.
MOTOR_SPEED_OPENLOOP_DAMPING_ENABLE	Enable openloop damping.

motor_speed_flux_weaken_t

enum motor_speed_flux_weaken_t

Enumerator
MOTOR_SPEED_FLUX_WEAKEN_DISABLE	Disable flux-weakening control.
MOTOR_SPEED_FLUX_WEAKEN_ENABLE	Enable flux-weakening control.

motor_speed_less_switch_t

enum motor_speed_less_switch_t

Enumerator
MOTOR_SPEED_LESS_SWITCH_DISABLE	Disable soft switching between open-loop mode and normal field oriented control mode.
MOTOR_SPEED_LESS_SWITCH_ENABLE	Enable soft switching between open-loop mode and normal field oriented control mode.

motor_speed_observer_switch_t

enum motor_speed_observer_switch_t

Enumerator
MOTOR_SPEED_OBSERVER_SWITCH_DISABLE	Disable speed observer.
MOTOR_SPEED_OBSERVER_SWITCH_ENABLE	Enable speed observer.

motor_speed_observer_select_t

enum motor_speed_observer_select_t

Enumerator
MOTOR_SPEED_OBSERVER_SELECT_NORMAL	Normal speed observer.
MOTOR_SPEED_OBSERVER_SELECT_DISTURBANCE	Disturbance speed observer.

motor_speed_ctrl_status_t

enum motor_speed_ctrl_status_t

Enumerator
MOTOR_SPEED_CTRL_STATUS_INIT	Speed control status is INIT.
MOTOR_SPEED_CTRL_STATUS_BOOT	Speed control status is BOOT.
MOTOR_SPEED_CTRL_STATUS_RUN	Speed control status is RUN.

Function Documentation

RM_MOTOR_SPEED_Open()

fsp_err_t RM_MOTOR_SPEED_Open	(	motor_speed_ctrl_t *const	p_ctrl,
		motor_speed_cfg_t const *const	p_cfg
	)

Opens and configures the Motor Speed Module. Implements motor_speed_api_t::open.

Return values

FSP_SUCCESS	Motor Speed Module 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_SPEED_Close()

fsp_err_t RM_MOTOR_SPEED_Close

(

motor_speed_ctrl_t *const

p_ctrl

)

Disables specified Motor Speed Module. Implements motor_speed_api_t::close.

Return values

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

RM_MOTOR_SPEED_Reset()

fsp_err_t RM_MOTOR_SPEED_Reset

(

motor_speed_ctrl_t *const

p_ctrl

)

Reset the variables of Motor Speed Module. Implements motor_speed_api_t::reset.

Return values

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

RM_MOTOR_SPEED_Run()

fsp_err_t RM_MOTOR_SPEED_Run

(

motor_speed_ctrl_t *const

p_ctrl

)

Run(Start) the Motor Speed Control. Implements motor_speed_api_t::run.

Return values

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

RM_MOTOR_SPEED_SpeedReferenceSet()

fsp_err_t RM_MOTOR_SPEED_SpeedReferenceSet	(	motor_speed_ctrl_t *const	p_ctrl,
		float const	speed_reference_rpm
	)

Set Speed Reference Data. Implements motor_speed_api_t::speedReferenceSet.

Return values

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

RM_MOTOR_SPEED_PositionReferenceSet()

fsp_err_t RM_MOTOR_SPEED_PositionReferenceSet	(	motor_speed_ctrl_t *const	p_ctrl,
		motor_speed_position_data_t const *const	p_position_data
	)

Set Position Reference Data. Implements motor_speed_api_t::positionReferenceSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input structure pointer is NULL.

RM_MOTOR_SPEED_ParameterSet()

fsp_err_t RM_MOTOR_SPEED_ParameterSet	(	motor_speed_ctrl_t *const	p_ctrl,
		motor_speed_input_t const *const	p_st_input
	)

Set Input parameters. Implements motor_speed_api_t::parameterSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

RM_MOTOR_SPEED_SpeedControl()

fsp_err_t RM_MOTOR_SPEED_SpeedControl

(

motor_speed_ctrl_t *const

p_ctrl

)

Calculates the d/q-axis current reference.(Main process of Speed Control) Implements motor_speed_api_t::speedControl.

Return values

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

RM_MOTOR_SPEED_ParameterGet()

fsp_err_t RM_MOTOR_SPEED_ParameterGet	(	motor_speed_ctrl_t *const	p_ctrl,
		motor_speed_output_t *const	p_st_output
	)

Get Speed Control Parameters. Implements motor_speed_api_t::parameterGet.

Return values

FSP_SUCCESS	Successfully the flag is gotten.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

RM_MOTOR_SPEED_ParameterUpdate()

fsp_err_t RM_MOTOR_SPEED_ParameterUpdate	(	motor_speed_ctrl_t *const	p_ctrl,
		motor_speed_cfg_t const *const	p_cfg
	)

Update the parameters of Speed Control Calculation. Implements motor_speed_api_t::parameterUpdate.

Return values

FSP_SUCCESS	Successfully data was updated.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Configuration parameter error.