Control method
PARAMETERS
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5
• Speed control
Speed control operation is performed to zero the difference between the speed command (
) and actual rotation value
detected by encoder (
FB). At this time, the motor load is found and its result is transferred to the torque current controller
as a torque current command (iq
).
• Torque current control
A voltage (Vq) is calculated to flow a current (iq) which is identical to the torque current command (iq
) found by the speed
controller.
• Magnetic flux control
The magnetic flux (
2) of the motor is derived from the excitation current (id). The excitation current command (id
) is
calculated to use that motor magnetic flux (
2) as a predetermined magnetic flux.
• Excitation current control
A voltage (V
d) is calculated to flow a current (id) which is identical to the excitation current command (id
).
• Output frequency calculation
Motor slip (s) is calculated on the basis of the torque current value (i
q) and magnetic flux (2). The output frequency (0)
is found by adding that slip (s) to the feedback (
FB) found by a feedback from the encoder.
The above results are used to make PWM modulation and run the motor.
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