Motorola M68HC08 - Manual (Page 153)

User Guide
Tuning for Customer Motor
DRM028 — Rev 0 Designer Reference Manual
MOTOROLA User Guide 153
Range: <0,255>
where the current regulator integral gain is:
(EQ 6-13.)
These constants can be calculated according to regulators theory. The
speed sampling (regulator execution) period is PER_T3_RUN_US =
2.560 ms at default software setting. Another recommended solution is
experimental setting.
NOTE: SPEED_PIREG_P_GAINSCALELEFT, SPEED_PIREG_P_GAIN,
SPEED_PIREG_I_GAINSCALERIGHT, SPEED_PIREG_I_GAIN can
be evaluated with PC master software tuning file tuning_bldc.pmp.
We suggest using PC master software with tuning file tuning_bldc.pmp
for regulator parameters evaluation. You can use this procedure:
1. Ensure that the start-up and commutation parameters were set
properly ( Start-up Constants and Maximal Commutation
Period ) 6.5.4.3 in const_cust_x.h
2. Set const_cust_x.h:
SPEED_PIREG_P_GAINSCALELEFT 0
SPEED_PIREG_P_GAIN 0
SPEED_PIREG_I_GAINSCALERIGHT 7
SPEED_PIREG_I_GAIN 0
3. Ensure that COMMUT_REV, SPEED_RANGE_MAX_RPM,
SPEED_MAX_RPM are set properly in const_cust_x.h
4. Set SPEED_MIN_RPM as required (should be
SPEED_MIN_RPM > SPEED_MAX_RPM/5 for reliable
commutation at low speed)
KI SPEED_PIREG_I_GAIN*2
SPEED_PIREG_I_GAINSCALERIGHT
– ( )
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Freescale Semiconductor, Inc.
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