Sliding-ModeRotorPositionObserverofPMSM资源-CSDN文库

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SMO Slidin

-Mode Rotor Position Observer of PMS

Des

cription This software module implements a rotor position estimation algorithm

for Permanent-Magnet Synchronous Motor (PMSM) based on Sliding-

Mode Observer (SMO).

Valpha

Vbeta

Ibeta

Ialpha

SMO

Theta

Zalpha

Zbeta

MACRO

Availability This IQ module is available in one interface format:

1) The C interface version

Module Properties Type: Target Independent, Application Dependent

Target Devices: 28x Fixed Point or Piccolo

C Version File Names: smopos.h

IQmath library files for C: IQmathLib.h, IQmath.lib

Digital Control Systems (DCS) Group 1

Texas Instruments

C Interfac

C Interface

Object Definition

The structure of SMOPOS object is defined by following structure definition

typedef struct { _iq Valpha; // Input: Stationary alpha-axis stator voltage

_iq Ealpha; // Variable: Stationary alpha-axis back EMF

_iq Zalpha; // Output: Stationary alpha-axis sliding control

_iq Gsmopos; // Parameter: Motor dependent control gain

_iq EstIalpha; // Variable: Estimated stationary alpha-axis stator current

_iq Fsmopos; // Parameter: Motor dependent plant matrix

_iq Vbeta; // Input: Stationary beta-axis stator voltage

_iq Ebeta; // Variable: Stationary beta-axis back EMF

_iq Zbeta; // Output: Stationary beta-axis sliding control

_iq EstIbeta; // Variable: Estimated stationary beta-axis stator current

_iq Ialpha; // Input: Stationary alpha-axis stator current

_iq lalphaError; // Variable: Stationary alpha-axis current error

_iq Kslide; // Parameter: Sliding control gain

_iq Ibeta; // Input: Stationary beta-axis stator current

_iq IbetaError; // Variable: Stationary beta-axis current error

_iq Kslf; // Parameter: Sliding control filter gain

_iq Theta; // Output: Compensated rotor angle

} SMOPOS;

typedef SMOPOS * SMOPOS_handle;

Module Terminal Variables

Item Name Description Format

Range(Hex)

Valpha stationary d-axis stator voltage

GLOBAL_Q 80000000-7FFFFFFF

Vbeta stationary q-axis stator voltage

GLOBAL_Q 80000000-7FFFFFFF

Ialpha stationary d-axis stator current

GLOBAL_Q 80000000-7FFFFFFF

Inputs

Ibeta stationary q-axis stator current

GLOBAL_Q 80000000-7FFFFFFF

Theta rotor position angle

GLOBAL_Q 00000000-7FFFFFFF

(0 – 360 degree)

Zalfa stationary d-axis sliding control

GLOBAL_Q 80000000-7FFFFFFF

Outputs

Zbeta stationary q-axis sliding control

GLOBAL_Q 80000000-7FFFFFFF

Fsmopos Fsmopos = exp(-Rs*T/Ls)

GLOBAL_Q 80000000-7FFFFFFF

Gsmopos Gsmopos =

(Vb/Ib)*(1- exp(-Rs*T/Ls))/Rs

GLOBAL_Q 80000000-7FFFFFFF

Kslide sliding mode control gain

GLOBAL_Q 80000000-7FFFFFFF

SMOPOS

parameter

Kslf sliding control filter gain

GLOBAL_Q 80000000-7FFFFFFF

Ealpha stationary d-axis back EMF

GLOBAL_Q 80000000-7FFFFFFF

Ebeta stationary q-axis back EMF

GLOBAL_Q 80000000-7FFFFFFF

EstIalpha stationary d-axis estimated current

GLOBAL_Q 80000000-7FFFFFFF

EstIbeta stationary q-axis estimated current

GLOBAL_Q 80000000-7FFFFFFF

IalphaError stationary d-axis current error

GLOBAL_Q 80000000-7FFFFFFF

Internal

IbetaError stationary q-axis current error

GLOBAL_Q 80000000-7FFFFFFF

GLOBAL_Q valued between 1 and 30 is defined in the IQmathLib.h header file.

Digital Control Systems (DCS) Group 2

Texas Instruments

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