UM0324 datasheet(85/105 Pages) STMICROELECTRONICS

85 / 105 page

UM0324

Library functions

85/105

PID_Speed_Regulator

PID_Reset_Integral_terms

PID_Speed_Coefficients_update

PID_Integral_Speed_update

Synopsis

s16 PID_Speed_regulator(PID_SpeedTYPEDEF *PID_Speed, s16

speed)

Description

The purpose of this function is to compute the proportional, integral and

derivative terms (if enabled, see

SPEED_DIFFERENTIAL_TERM_ENABLED in Section 2.2.1 on page

18) for the speed regulation.

Input

PID_SpeedTYPDEF (see MC_type.h for structure declaration)

signed 16 bits

Output

signed 16 bits

Functions called

None

Caution

Default values for the PID speed regulation are declared and can be

modified in the MC_Control_Param.h file (see Section 2.2.2 on page

19).

See also

Figure 54 on page 103 shows the PID block diagram.

Synopsis

void PID_Reset_Integral_terms(void)

Description

The purpose of this function is to reset all the integral terms of the

torque, flux and speed PID regulators.

Synopsis

void PID_Speed_coefficients_update(s16 motor_speed)

Description

This function automatically computes the proportional, integral and

derivative gain for the speed PID regulator according to the actual

motor speed. The computation is done following a linear curve

based on 4 set points. See Section 4.8.5 on page 87 for more

information.

Functions called

None

Caution

Default values for the four set points are declared and can be

modified in the MC_Control_Param.h file (see Section 2.2.2 on page

19).

Synopsis

void PID_Integral_Speed_update(s32 value)

Description

The purpose of this function is to load the speed integral term with a default

value.

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