Reference parameters

The reference parameters are treated as the most fundamental constants. The rest of the system scales the control approaches accordingly. If some derived parameter then ratiometrically depends on a reference parameter, it's value unit will be depicted e.g. as [.iref].

info

• The following variables are located in the /driver folder.
• Not all the params and states may be present. It depends on the current configuration of your application.

VECTOR and BLDC shared

Parameters

iref [A]

The stator reference current. During the normal circumstances, the amplitude of motor phase current stays below the value specified by this parameter.

E.g. When you issue a command 1 and no d-axis control is configured, this current will be fed into the Q-axis of the motor.

uref [V, .Vbatt]

The Q-axis reference voltage. During normal circumstances, the amplitude of Q-axis voltage stays below the value specified by this parameter. Setting this parameter to zero value (default) allows the driver to use all the available voltage. Setting this parameter to a negative value of instructs to use a portion of the actual DC voltage.

E.g. When you issue a command 1, this voltage will be fed into the Q-axis of the motor.

irefr [A, .iref]

The regeneration Q-axis current reference. Normally, the iref is used to derive the Q-axis current reference. Nevertheless, if the following conditions are met :

1. Driver mode is not CRT or SCR
2. Motor is decelerating (braking) a different reference might be forced. The value of this parameter sets the regeneration reference as follows: Setting this parameter to zero value (default) disables this functionality. Setting this parameter to a negative value of instructs to use a specified current for regeneration in [A]. Setting this parameter to a positive value of instructs to use a portion of the iref.

ipeak [A]

Peak phase current. If the immediate motor current raises above ipeak at any time in any of the phases, the algorithm immediately employs the DTC mechanism (with the aim to maintain the current lower than this value). If the condition persists, over-current flag is raised in /driver/stat status word.

Special value: The absolute value is used. Negative value hereby switches the motor direction globally.

rref [RPM]

Reference speed. It is used for PID speed closed loop. More

pref [rad]

Reference angle. It is used for PID position closed loop. More

Only BLDC

aac

Maximum advancing

aacpart

How big part to "cut" from the command for advancing

ipbrake [A]

Current used as reference and peak current for [driver mode = 15] (braking)

startc [.iref]

When motor is starting up in sensorless mode, this parameter acts as the multiplier for the iref stator current reference.

/rest/hallc [.iref]

When motor is driven in sensored (hall) mode (incl. startup), this parameter acts as the multiplier for the iref stator current reference.