15.1.2 Time Sharing of PI Controller

In the Field Oriented Control (FOC) algorithm, there are three PI controllers for Speed, d-axis current ID, and q-axis current Iq. The input of one PI controller depends on the output of the other PI controller, and so they are executed sequentially. At any instant, there is only one instance of the PI controller in operation. As a result, instead of using three separate PI controllers, a single PI controller is time shared for Speed, Id, and Iq for optimum usage of resources.

The Speed_Id_Iq_PI module allows sharing of the PI controller through the start and done signals for each of Speed, Id, and Iq. The tuning parameters Kp, Ki, and minimum and maximum limits of each instance of a controller can be configured independently through corresponding inputs.