UM0324 datasheet(103/105 Pages) STMICROELECTRONICS

103 / 105 page

UM0324

Additional information

103/105

Figure 54.

Speed control loop block diagram

A.6

Additional or up-to-date technical literature

More information can be found on the ST website (www.stmcu.com).

More specifically, the latest documents and software can be found directly at:

http://www.stmcu.com/inchtml-pages-str750.html.

In addition, FAQ and Forums can be found directly at :

http://www.stmcu.com/forumsid-17.html for STR7 general enquiries.

http://www.stmcu.com/forumsid-13.html for motor control related enquiries.

A.7

References

[1] P. C. Krause, O. Wasynczuk, S. D. Sudhoff, Analysis of Electric Machinery and Drive

Systems, Wiley-IEEE Press, 2002.

[2] T. A. Lipo and D. W. Novotny, Vector Control and Dynamics of AC Drives, Oxford

University Press, 1996.

Integral term frozen

Clamp Output value to unsigned [PI(D) lower limit..PI(D) upper limit]

Target speed

Speed error (signed 16 bit)

Proportional = Kp x Speed Error

Is PI output

saturated?

Is Output < PI(D) lower limit

return Output value

Reset Saturated Output Flag

Set Saturated Output Flag

Yes

Integral = Integral + Ki x Slip Error

Current speed

Clamp Output value to

signed int domain

Differential = Kd x (Error Speed -

Previous Error Speed)

Output = Proportional/2^8 + Integral/2^14

+ Differential terms/2^8

or > PI(D) upper limit

(signed 16 bit)

If enabled

See

important

note in

section 2.2.1

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