1.9 Motor Control Management State Machine.
The previous diagram represents the motor control management state machine state transitions. In each state the following operations are performed:
- Stopped: Motor control variables reset.
- Aligning: The first part of the startup procedure is performed. The flux current (id) is increased till its nominal startup value, while the speed is kept zero.
- Starting: The second part of the startup procedure is performed. The speed is increased till change frequency (speed), while the flux current amplitude is kept constant.
- Closing loop: The reference system change is performed, with current PI memories updating.
- Accelerating: Verification for whether the actual speed reached the required minimum speed value specified, and the estimated position from the observer is well close to the open loop rotor angle.
- Running: The normal motor operations are performed. In case of a SPM, the flux current component (id) reference is reduced to zero. In the case of the IPM, the negative (id) reference is calculated from the MTPA algorithm. The torque current component (iq) reference is obtained with a speed control PI.
The BEMF observer angle and speed estimation are performed during the Accelerating and Running States.