Control Algorithm Design

Create controller algorithm for motor control system

Create the torque-control and speed-control subsystems, verify the target execution time, and tune the control gains.

Note

The blocks listed here are compliant with the MISRA C™ guidelines.

Blocks

Controls

Control Reference

ACIM Control Reference	Compute reference currents for field-oriented control of induction motor (Since R2020b)
ACIM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance (Since R2020b)
ACIM Slip Speed Estimator	Calculate slip speed of AC induction motor (Since R2020b)
ACIM Torque Estimator	Estimate electromechanical torque and power (Since R2020b)
DQ Limiter	Saturate voltages (or current) in the dq reference frame
MTPA Control Reference	Compute reference currents for maximum torque per ampere (MTPA) and field-weakening operation
PMSM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
PMSM Torque Estimator	Estimate electromechanical torque and power
Position Generator	Generate position ramp of fixed frequency
Six Step Commutation	Generate switching sequence for six-step commutation of brushless DC (BLDC) motor (Since R2020b)
Vector Control Reference	Compute d and q axis components of reference vector
LUT based PMSM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of permanent magnet synchronous motor (Since R2022b)
SRM Commutation	Generate switching sequences for n-phase switched reluctance motor (SRM) (Since R2022b)
LUT based SynRM Control Reference	Generate lookup-table-based control reference currents for field-oriented control of SynRM and PMaSynRM (Since R2024a)
SynRM FeedForward Control	Decouple d-axis and q-axis current to eliminate disturbance (Since R2024a)
SynRM Torque Estimator	Estimate electromechanical torque and power (Since R2024a)

Controllers

Derating Function	Compute derating factor
PI Controller	Discrete-time PID Controller (Since R2022a)
Field Oriented Control Autotuner	Automatically and sequentially tune multiple PID control loops in field-oriented control application
FOC Default Controller Gains	Compute controller gains for the FOC based algorithms at run time based on empirical method or optimum theory (Since R2023b)
VbyF Controller	Implement V/F (open-loop or scalar) control for three-phase motors (Since R2023b)
Field-Oriented Current Controller	Implement current control for three-phase motors using field-oriented control (FOC) technique (Since R2023b)
I-F Controller	Implement I-F control for a three-phase permanent magnet synchronous motor (Since R2024a)
Sensorless Six-Step Commutation	Use six-step commutation to run a BLDC motor or PMSM using sensorless control (Since R2025a)

Math Transforms

3-Phase Sine Voltage Generator	Generate balanced three-phase sinusoidal signals
atan2	Compute four-quadrant arctangent
Clarke Transform	Implement ab to αβ transformation
Inverse Clarke Transform	Implement αβ to abc transformation
Inverse Park Transform	Implement dq to αβ transformation
Park Transform	Implement αβ to dq transformation
SinCos Embedded Optimized	Implement sine and cosine functions (Since R2024b)
PWM Reference Generator	Generate modulated signals from phase voltages
6-Phase VSD Transform	Compute vector space decomposition (VSD) based transformation on six-phase inputs (Since R2024b)
6-Phase Inverse VSD Transform	Compute vector space decomposition (VSD) based inverse transformation on orthogonal inputs (Since R2024b)

Protection and Diagnostics

Protection Relay	Implement protection relay with definite minimum time (DMT) trip characteristics
Host Serial Receive	Configure host-side serial communications interface to receive data from serial port
Host Serial Setup	Configure communication ports used by Host Serial Receive and Host Serial Transmit blocks
Host Serial Transmit	Configure host-side serial communications interface to transmit data to serial port

Sensor Decoders

Hall Speed and Position	Compute speed and estimate position of rotor by using Hall sensors
Hall Validity	Compute rotor spin direction and validity of Hall sensor sequence
Mechanical to Electrical Position	Compute electrical position of rotor from mechanical position
Quadrature Decoder	Compute position of quadrature encoder
Resolver Decoder	Compute motor mechanical position and speed and sine and cosine values of motor electrical position
Software Watchdog Timer	Output true until counter reaches maximum count limit
Speed Measurement	Compute speed from rotor angular position

Sensorless Estimators

Sliding Mode Observer	Compute electrical position and mechanical speed of a surface-mount PMSM (Since R2021b)
Flux Observer	Compute electrical position, magnetic flux, and electrical torque of rotor
Pulsating High Freq Observer	Estimate initial rotor electrical position of interior PMSM using pulsating high frequency (PHF) injection (Since R2022b)
Extended EMF Observer	Compute electrical position and mechanical speed of permanent magnet synchronous motor (PMSM) (Since R2023a)

Signal Management

IIR Filter	Implement infinite impulse response (IIR) filter
Vector plot	Plot vectors in space domain (Since R2020b)
Position Compensation	Compensate for position offset due to different types of delays (Since R2022b)
PLL with Feed Forward	Compute position and angular frequency from orthogonal sinusoidal signals (Since R2023b)
Compute Parameter	Extend functionality of blocks by enabling additional inputs (Since R2024a)
Dead-Time Compensator	Overcome dead-time effect by modifying reference voltages (Since R2024a)
Protocol Encoder	Encode input data into a uint8 byte stream by specifying the packet structure (Since R2024a)
Protocol Decoder	Decode a uint8 byte stream by specifying the packet structure (Since R2024a)
Byte Pack	Convert input signals to `uint8` vector (Since R2024a)
Byte Unpack	Convert `uint8` vector to input signals (Since R2024a)
Byte Reversal	Reverse order of bytes in input word (Since R2024a)
Memory Copy	Copy data from and to memory section (Since R2024a)

Topics

Design Field-Oriented Control Algorithm

Design and integrate the torque-control and speed-control subsystems.
- STEP 1: Design Current and Position Scaling Subsystems
- STEP 2: Design Current Controller Subsystem
- STEP 3: Perform Manual Gain-Tuning of Current Controller
- STEP 4: Design Speed Control Algorithm
- STEP 5: Perform Manual Gain-Tuning of Speed Controller
Estimate Control Gains and Use Utility Functions
Perform control parameter tuning for speed and torque control subsystems.
Code Verification and Profiling Using PIL Testing
This example explains PIL profiling on Texas Instruments® LAUNCHXL-F28379D hardware board.
Obtain Controller Gains to Run Motor Using Field-Oriented Control
This example shows how to obtain PI controller gains using Optimum theory for the current control loop and speed control loop in Field Oriented Control (FOC) of a Permanent Magnet Synchronous Motor (PMSM).
Sensorless Speed Control of BLDC Motor Using Six-Step Commutation
This example uses 120-degree conduction mode to implement the six-step commutation technique to control the speed of a three-phase brushless DC (BLDC) motor.