Motorola M68HC08 manual User Guide 153

Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

User Guide

Tuning for Customer Motor

Range: <0,255>

where the current regulator integral gain is:

KI = SPEED_PIREG_I_GAIN*2(–SPEED_PIREG_I_GAINSCALERIGHT)

(EQ 6-13.)

These constants can be calculated according to regulators theory. The speed sampling (regulator execution) period is PER_T3_RUN_US = 2.560 ms at default software setting. Another recommended solution is experimental setting.

NOTE: SPEED_PIREG_P_GAINSCALELEFT, SPEED_PIREG_P_GAIN, SPEED_PIREG_I_GAINSCALERIGHT, SPEED_PIREG_I_GAIN can be evaluated with PC master software tuning file tuning_bldc.pmp.

We suggest using PC master software with tuning file tuning_bldc.pmp for regulator parameters evaluation. You can use this procedure:

1.Ensure that the start-up and commutation parameters were set properly (Start-up Constants and Maximal Commutation Period)6.5.4.3 in const_cust_x.h

2.Set const_cust_x.h:

SPEED_PIREG_P_GAINSCALELEFT 0 SPEED_PIREG_P_GAIN 0 SPEED_PIREG_I_GAINSCALERIGHT 7 SPEED_PIREG_I_GAIN 0

3.Ensure that COMMUT_REV, SPEED_RANGE_MAX_RPM, SPEED_MAX_RPM are set properly in const_cust_x.h

4.Set SPEED_MIN_RPM as required (should be SPEED_MIN_RPM > SPEED_MAX_RPM/5 for reliable commutation at low speed)

DRM028 — Rev 0		Designer Reference Manual
MOTOROLA	User Guide	153
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