控制算法设计

为电机控制系统创建控制器算法

创建转矩控制和转速控制子系统，验证目标执行时间，并调节控制增益。

注意

此处列出的模块符合 MISRA C™ 规范。

模块

控制

控制参考

ACIM Control Reference	计算感应电机磁场定向控制的参考电流
ACIM Feed Forward Control	解耦 d 轴和 q 轴电流以消除扰动
ACIM Slip Speed Estimator	计算 AC 感应电机的转差速度
ACIM Torque Estimator	估计机电转矩和功率
DQ Limiter	dq 参考系中的饱和电压（或电流）
MTPA Control Reference	计算最大转矩电流比 (MTPA) 和弱磁运行的参考电流
PMSM Feed Forward Control	解耦 d 轴和 q 轴电流以消除扰动
PMSM Torque Estimator	估计机电转矩和功率
Position Generator	生成固定频率的位置斜坡
Six Step Commutation	生成用于无刷 DC (BLDC) 电机的六步换相的开关序列
Vector Control Reference	计算参考矢量的 d 轴和 q 轴分量
LUT based PMSM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of permanent magnet synchronous motor (自 R2022b 起)
SRM Commutation	Generate switching sequences for n-phase switched reluctance motor (SRM) (自 R2022b 起)
LUT based SynRM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of SynRM and PMaSynRM (自 R2024a 起)
SynRM FeedForward Control	Decouple d-axis and q-axis current to eliminate disturbance (自 R2024a 起)
SynRM Torque Estimator	Estimate electromechanical torque and power (自 R2024a 起)

控制器

Derating Function	计算降额因子
PI Controller	Discrete-time PID Controller (自 R2022a 起)
Field Oriented Control Autotuner	Automatically and sequentially tune multiple PID control loops in field-oriented control application
FOC Default Controller Gains	Compute controller gains for the FOC based algorithms at run time based on empirical method or optimum theory (自 R2023b 起)
VbyF Controller	Implement V/F (open-loop or scalar) control for three-phase motors (自 R2023b 起)
Field-Oriented Current Controller	Implement current control for three-phase motors using field-oriented control (FOC) technique (自 R2023b 起)
I-F Controller	Implement I-F control for a three-phase permanent magnet synchronous motor (自 R2024a 起)
Sensorless Six-Step Commutation	Use six-step commutation to run a BLDC motor or PMSM using sensorless control (自 R2025a 起)

数学变换

3-Phase Sine Voltage Generator	生成平衡的三相正弦信号
atan2	计算四象限反正切
Clarke Transform	实现 ab 到 αβ 的变换
Inverse Clarke Transform	实现 αβ 到 abc 的变换
Inverse Park Transform	实现 dq 到 αβ 的变换
Park Transform	实现 αβ 到 dq 的变换
SinCos Embedded Optimized	Implement sine and cosine functions (自 R2024b 起)
PWM Reference Generator	从相电压生成调制信号
6-Phase VSD Transform	Compute vector space decomposition (VSD) based transformation on six-phase inputs (自 R2024b 起)
6-Phase Inverse VSD Transform	Compute vector space decomposition (VSD) based inverse transformation on orthogonal inputs (自 R2024b 起)

保护和诊断

Protection Relay	实现具有确定最短时间 (DMT) 跳闸特性的保护中继设备
Host Serial Receive	Configure host-side serial communications interface to receive data from serial port
Host Serial Setup	配置 Host Serial Receive 和 Host Serial Transmit 模块使用的通信端口
Host Serial Transmit	Configure host-side serial communications interface to transmit data to serial port

传感器解码器

Hall Speed and Position	使用霍尔传感器计算转子转速和估计转子位置
Hall Validity	计算转子旋转方向和霍尔传感器序列有效性
Mechanical to Electrical Position	根据转子的机械位置计算其电气位置
Quadrature Decoder	计算正交编码器的位置
Resolver Decoder	计算电机机械位置和转速以及电机电气位置的正弦和余弦值
Software Watchdog Timer	输出 true，直到计数器达到最大计数限值
Speed Measurement	根据转子的角位置计算转速

无传感器估计器

Sliding Mode Observer	计算表贴式 PMSM 的电气位置和机械转速 (自 R2021b 起)
Flux Observer	计算转子的电气位置、磁通量和电转矩
Pulsating High Freq Observer	使用脉动高频 (PHF) 注入估计内部 PMSM 的初始转子电气位置 (自 R2022b 起)
Extended EMF Observer	计算永磁同步电机 (PMSM) 的电气位置和机械转速 (自 R2023a 起)

信号管理

IIR Filter	实现无限冲激响应 (IIR) 滤波器
Vector plot	绘制空间域中的矢量
Position Compensation	Compensate for position offset due to different types of delays (自 R2022b 起)
PLL with Feed Forward	Compute position and angular frequency from orthogonal sinusoidal signals (自 R2023b 起)
Compute Parameter	Extend functionality of blocks by enabling additional inputs (自 R2024a 起)
Dead-Time Compensator	Overcome dead-time effect by modifying reference voltages (自 R2024a 起)
Protocol Encoder	Encode input data into a uint8 byte stream by specifying the packet structure (自 R2024a 起)
Protocol Decoder	Decode a uint8 byte stream by specifying the packet structure (自 R2024a 起)
Byte Pack	Convert input signals to `uint8` vector (自 R2024a 起)
Byte Unpack	Convert `uint8` vector to input signals (自 R2024a 起)
Byte Reversal	Reverse order of bytes in input word (自 R2024a 起)
Memory Copy	Copy data from and to memory section (自 R2024a 起)

主题

Design Field-Oriented Control Algorithm

Design and integrate the torque-control and speed-control subsystems.
- 步骤 1: Design Current and Position Scaling Subsystems
- 步骤 2: Design Current Controller Subsystem
- 步骤 3: Perform Manual Gain-Tuning of Current Controller
- 步骤 4: Design Speed Control Algorithm
- 步骤 5: 对转速控制器执行手动增益调节
估计控制增益和使用工具函数
执行转速和转矩控制子系统的控制参数调节。
使用 PIL 测试进行代码验证和探查
此示例说明如何在 Texas Instruments® LAUNCHXL-F28379 硬件板上进行 PIL 探查。在处理器在环 (PIL) 仿真中，控制算法在目标硬件中执行，但被控对象模型在主机上运行。被控对象模型对控制器的输入和输出信号进行仿真，并使用串行通信接口与控制器通信。借助此功能，您可以使用 PIL 仿真来确定目标硬件上的执行时间，然后可以将其与主机上仿真模型的执行时间相比较。
Obtain Controller Gains to Run Motor Using Field-Oriented Control
This example shows how to obtain PI controller gains using Optimum theory for the current control loop and speed control loop in Field Oriented Control (FOC) of a Permanent Magnet Synchronous Motor (PMSM).
Sensorless Speed Control of BLDC Motor Using Six-Step Commutation
This example uses 120-degree conduction mode to implement the six-step commutation technique to control the speed of a three-phase brushless DC (BLDC) motor.