Rockwell-automation SA500 Drive Configuration and Programming Manual de usuario Pagina 111

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SA500 Control Algorithms
C-5
Figure C.2 – SA500 Brushless Torque Algorithm Block Diagram
OUTER
CONTROL
LOOP(S)
PMI_REF%
+4095
-4095
SCALING
TORQUE
GAIN
C
SUM
Iu
Iv
DIFF
+
C
= DERIVED FROM CONFIGURATION PARAMETER
VECTOR
ROTATOR
CONVERSION
3-PHASE
CURRENT
REGULATOR
&
TO
C
CURRENT
REGULATOR
CURRENT
REGULATOR
P
W
M
Iu UPPER
Iv UPPER
Iw UPPER
Iu LOWER
Iv LOWER
Iw LOWER
++
Iv
Iw
Iu
+
SCALING
C
PWM
GAIN
C
SCALE
C
RESOLVER
POSITION
RES_SCN_POS%
RPM%
UDC MODULE
Iw
SUM
Θ
(ANGLE OF VECTOR)
Iq
Id (= 0)
RES_ALN%
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