Control Algorithm Design

Create controller algorithm for motor control system

Create the torque-control and speed-control subsystems, verify the target execution time, and tune the control gains.

Note

The blocks listed here are compliant with the MISRA C™ guidelines.

Blocks

Controls

Control Reference

ACIM Control Reference	Compute reference currents for field-oriented control of induction motor (Since R2020b)
ACIM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance (Since R2020b)
ACIM Slip Speed Estimator	Calculate slip speed of AC induction motor (Since R2020b)
ACIM Torque Estimator	Estimate electromechanical torque and power (Since R2020b)
DQ Limiter	Saturate voltages (or current) in the dq reference frame (Since R2020a)
MTPA Control Reference	Compute reference currents for maximum torque per ampere (MTPA) and field-weakening operation (Since R2020a)
PMSM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance (Since R2020a)
PMSM Torque Estimator	Estimate electromechanical torque and power (Since R2020a)
Position Generator	Generate position ramp of fixed frequency (Since R2020a)
Six Step Commutation	Generate switching sequence for six-step commutation of brushless DC (BLDC) motor (Since R2020b)
Vector Control Reference	Compute d and q axis components of reference vector (Since R2020a)
LUT based PMSM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of permanent magnet synchronous motor (Since R2022b)
SRM Commutation	Generate switching sequences for n-phase switched reluctance motor (SRM) (Since R2022b)
LUT based SynRM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of SynRM and PMaSynRM (Since R2024a)
SynRM FeedForward Control	Decouple d-axis and q-axis current to eliminate disturbance (Since R2024a)
SynRM Torque Estimator	Estimate electromechanical torque and power (Since R2024a)

Controllers

Derating Function	Compute derating factor (Since R2020a)
PI Controller	Discrete-time PID Controller (Since R2022a)
Field Oriented Control Autotuner	Automatically and sequentially tune multiple PID control loops in field-oriented control application (Since R2020a)
FOC Default Controller Gains	Compute empirical PI controller gains for the field-oriented control (FOC) based algorithms at run time (Since R2023b)
VbyF Controller	Implement V/F (open-loop or scalar) control for three-phase motors (Since R2023b)
Field-Oriented Current Controller	Implement current control for three-phase motors using field-oriented control (FOC) technique (Since R2023b)
I-F Controller	Implement I-F control for a three-phase permanent magnet synchronous motor (Since R2024a)

Math Transforms

3-Phase Sine Voltage Generator	Generate balanced three-phase sinusoidal signals (Since R2020a)
atan2	Compute four-quadrant arctangent (Since R2020a)
Clarke Transform	Implement ab to αβ transformation (Since R2020a)
Inverse Clarke Transform	Implement αβ to abc transformation (Since R2020a)
Inverse Park Transform	Implement dq to αβ transformation (Since R2020a)
Park Transform	Implement αβ to dq transformation (Since R2020a)
SinCos Embedded Optimized	Implement sine and cosine functions (Since R2024b)
PWM Reference Generator	Generate modulated signals from phase voltages (Since R2020a)
6-Phase VSD Transform	Compute vector space decomposition (VSD) based transformation on six-phase inputs (Since R2024b)
6-Phase Inverse VSD Transform	Compute vector space decomposition (VSD) based inverse transformation on orthogonal inputs (Since R2024b)

Protection and Diagnostics

Protection Relay	Implement protection relay with definite minimum time (DMT) trip characteristics (Since R2020a)
Host Serial Receive	Configure host-side serial communications interface to receive data from serial port (Since R2020a)
Host Serial Setup	Configure communication ports used by Host Serial Receive and Host Serial Transmit blocks (Since R2020a)
Host Serial Transmit	Configure host-side serial communications interface to transmit data to serial port (Since R2020a)

Sensor Decoders

Hall Speed and Position	Compute speed and estimate position of rotor by using Hall sensors (Since R2020a)
Hall Validity	Compute rotor spin direction and validity of Hall sensor sequence (Since R2020a)
Mechanical to Electrical Position	Compute electrical position of rotor from mechanical position (Since R2020a)
Quadrature Decoder	Compute position of quadrature encoder (Since R2020a)
Resolver Decoder	Compute motor mechanical position and speed and sine and cosine values of motor electrical position (Since R2020a)
Software Watchdog Timer	Output true until counter reaches maximum count limit (Since R2020a)
Speed Measurement	Compute speed from rotor angular position (Since R2020a)

Sensorless Estimators

Sliding Mode Observer	Compute electrical position and mechanical speed of a surface-mount PMSM (Since R2021b)
Flux Observer	Compute electrical position, magnetic flux, and electrical torque of rotor (Since R2020a)
Pulsating High Freq Observer	Estimate initial rotor electrical position of interior PMSM using pulsating high frequency (PHF) injection (Since R2022b)
Extended EMF Observer	Compute electrical position and mechanical speed of permanent magnet synchronous motor (PMSM) (Since R2023a)

Signal Management

IIR Filter	Implement infinite impulse response (IIR) filter (Since R2020a)
Vector plot	Plot vectors in space domain (Since R2020b)
Position Compensation	Compensate for position offset due to different types of delays (Since R2022b)
PLL with Feed Forward	Compute position and angular frequency from orthogonal sinusoidal signals (Since R2023b)
Compute Parameter	Extend functionality of blocks by enabling additional inputs (Since R2024a)
Dead-Time Compensator	Overcome dead-time effect by modifying reference voltages (Since R2024a)
Protocol Encoder	Encode input data into a uint8 byte stream by specifying the packet structure (Since R2024a)
Protocol Decoder	Decode a uint8 byte stream by specifying the packet structure (Since R2024a)
Byte Pack	Convert input signals to `uint8` vector (Since R2024a)
Byte Unpack	Convert `uint8` vector to input signals (Since R2024a)
Byte Reversal	Reverse order of bytes in input word (Since R2024a)
Memory Copy	Copy data from and to memory section (Since R2024a)

Topics

Design Field-Oriented Control Algorithm

Design and integrate the torque-control and speed-control subsystems.
- STEP 1: Design Current and Position Scaling Subsystems
- STEP 2: Design Current Controller Subsystem
- STEP 3: Perform Manual Gain-Tuning of Current Controller
- STEP 4: Design Speed Control Algorithm
- STEP 5: Perform Manual Gain-Tuning of Speed Controller
Estimate Control Gains and Use Utility Functions
Perform control parameter tuning for speed and torque control subsystems.
Code Verification and Profiling Using PIL Testing
This example explains PIL profiling on Texas Instruments® LAUNCHXL-F28379D hardware board.