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UM0324 Datasheet(PDF) 102 Page - STMicroelectronics |
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UM0324 Datasheet(HTML) 102 Page - STMicroelectronics |
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102 / 105 page  Additional information UM0324 102/105 A.5 PID block diagrams The following flow diagrams (Figure 53 and Figure 54) show the decision tree for the computation of the torque/flux and speed regulation routines. Figure 53. Torque/flux control loop block diagram Integral term frozen Clamp Output value to unsigned [PI(D) lower limit..PI(D) upper limit] Target Torque/Flux Torque/Flux error (signed 16 bit) Proportional = Kp x Torque/Flux Error Is PI output saturated? Is Output < PI(D) lower limit return Output value Reset Saturated Output Flag Set Saturated Output Flag No Yes No Integral = Integral + Ki x Torque/Flux Error Measured Torque/Flux Clamp Output value to signed int domain Differential = Kd x (Error Torque/Flux - Previous Error Torque/Flux) Output = Proportional/2^13 + Integral/2^16 + Differential terms/2^13 or > PI(D) upper limit (signed 16 bit) If enabled See important note in section 2.2.1 |
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