27/39

AN1625 APPLICATION NOTE

Figure 29. Control loop block diagram.

Can be noticed that since the motor is current controlled, the electrical time constant of the motor (L/R) does not

appear in any transfer function.

D = 3.34 µNms/rad

n = 2

C = 33 nF

G

()

G

op

am p

–

–

G

1

k

T

⋅⋅

⋅

–

D1

s

τ

I

+

() 1sτ

M

+

()

⋅⋅

----------------------------------------------------------------------

=

2

1

2

R

R

R

+

SENSE

R

1

1

2

fb

fb

R

R

2

π

n

t

V

pulse

pullup

[V ]

I

s

τ

+

1

1

T

k

M

s

τ

D

+

1

/

1

T [Nm]

+

_

+

_

+

+

ω