USB-2-RTMI datasheet(13/157 Pages) TRINAMIC

tên linh kiện	USB-2-RTMI

Giải thích chi tiết về linh kiện	Encoder Engine: Hall analog/digital, Encoder analog/digital

PDF	157 Pages

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nhà sản xuất	TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

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13 / 157 page

TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11

13 / 157

3.5.9 Orientations, Models of Motors, and Coordinate Transformations

The orientation of magnetic axes (U, V, W for FOC3 resp. X, Y for FOC2) is essential for the FOC together

with the relative orientation of the rotor. Here, the rotor is modeled by a bar magnet with one pole pair

(n_pole_pairs = 1) with magnetic axis in north-south direction.

The actual magnetic axis of the stator - formed by the motor coils - is determined by measurement of the

coil currents.

The actual magnetic axis of the rotor is determined by incremental encoder or by Hall sensors. Incremental

encoders need an initialization of orientation, where Hall sensors give an absolute orientation, but with

low resolution. A combination of Hall sensor and incremental encoder is useful for start-up initialization.

Figure 3: Orientations UVW (FOC3) and XY (FOC2)

Figure 4: Compass Motor Model w/ 3 Phases UVW (FOC3) and Compass Motor Model w/ 2 Phases (FOC2)

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