3.22EjemploDRM007 Co..
3.22EjemploDRM007 Co..
3.22EjemploDRM007 Co..
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
Software Design <strong>Co</strong>nsiderations<br />
The desired time constant is 100 milliseconds for the closed loop<br />
system. That gives the following values for the controller parameters:<br />
Ki = 0.00995<br />
Kp = 0.094609<br />
In the microcontroller implementation of this controller, a scale factor is<br />
defined. It is better if the scale value is a power of two. So, 256 is our<br />
scale value.<br />
I_ Gain = 0.00995 • 256 = 2.54 ≈ 3<br />
P_Gain = 0.094609 • 256 = 24.22 ≈ 24<br />
Once the controller parameters are calculated, it is possible to<br />
implement them into the microcontroller.<br />
The PI controller implementation is shown in Figure 5-1.<br />
5.4 Speed <strong>Co</strong>ntrol Algorithm<br />
The speed control algorithm consists of three main parts: the actual<br />
speed calculation, the speed regulator by a PI controller, and a motor<br />
stalled protection. This algorithm is executed by a timer overflow<br />
interrupt handler each millisecond. The flowchart of this interrupt handler<br />
is shown in Figure 5-2.<br />
DRM007<br />
BLDC Motor <strong>Co</strong>ntrol Board for Industrial and Appliance Applications<br />
76 Software Design <strong>Co</strong>nsiderations MOTOROLA
Change language