The Sensor based FOC Features:
Table 1 : Sensor based FOC Features
| hls_foc_strm_ap_fixed | Status |
|---|---|
| Input | 3-phase currents non-block synchronous input Angle and speed synchronous input by a 32bit buffer RPM: buffer[15:0], revolution per minute Angle: buffer[32:16], theta_m mormalize to [0, CPR] |
| Output | 3-phase voltages non-block synchronous output |
| configurable &mintorable info | modes, pid args, manual args… pid intermediate results, details check the interface table |
| performance | Main clk 100Mhz, max throughput 20M/s |
The algorithm implemention is shown as the figure below:
Figure 1 : Sensor based FOC architecture top view
There are four modes for users to set normarly:
- MOD_STOPPED
- MOD_SPEED_WITH_TORQUE
- MOD_TORQUE_WITHOUT_SPEED
- MOD_FLUX
In the Torque control (MOD_TORQUE_WITHOUT_SPEED) implements a closed loop control focused on maintaining a specified torque value. In this mode of operation the q-vector provides the useful torque output of the motor and the d-vector the force that is parallel to the rotor. The d-vector represents non-useful force and thus any non-zero value is considered an error.
Figure 2 : Torque control mode
Constant speed control (MOD_TORQUE_WITHOUT_SPEED) is achieved through a PID controller that adjusts the motor torque to maintain a specified motor speed.
Figure 3 : Speed control mode
The field weakening operation of control trades optimal torque for additional speed as the motor reaches its limit at which additional current to the motor does not provide additional torque.
Figure 4 : field weakening control mode
