ZHCU563B March 2015 – December 2018
A.2 Position and Speed Motor Control
To view a diagram of the speed and position FOC loop for a PMSM, see Figure 15. By reducing the system components and increasing efficiency, the AM437x family enables cost-effective integrated designs of a communications system and intelligent controllers for three-phase motors. The FOC algorithm maintains efficiency across a wide range of speeds while using a space vector modulation technique to compensate for the sinusoidal-voltage waveform applied to the motor by controlling the flux from the rotor coordinates. This approach produces a minimum amount of torque ripple when driving a sinusoidal BEMF motor with sinusoidal currents.
In LEVEL4 the controlling variables are lsw and speed.
Figure 15. LEVEL4 - Speed Closed Field Oriented Control Loop In LEVEL5, the controlling variables are lsw and angle.
Figure 16. LEVEL5 - Position Closed Field Oriented Control Loop LEVEL6 is a combination of LEVEL4 and LEVEL5. In Level 6, the control variables are msw, lsw, speed, and angle.
Figure 17. FOC Motor Control Level 6