ACIM_FOC #

Brief #

The acim_foc component turns a torque command into d and q current commands for an induction motor in the rotor flux frame, using the flux model of acim_flux.

Behaviour #

• d: id_n * scale (scale from acim_fw, 1 below the corner), reached at id_rate A/s from 0 at every enable, so the bridge never steps the full magnetizing current into one leg.
• Torque is held at 0 (ready = 0, t_max = 0) until i_mr has reached 90% of the d command once; after that ready stays 1 until the next disable.
• q: torque / (3/2 * pp * lmr * i_mr), limited so |i| stays within max_cur with d taking priority.
• Flux boost (optional, k_boost > 0): while the flux is below the ramped d command, d gets k_boost * (d - i_mr) on top, so i_mr rises in about tr / (1 + k_boost) instead of tr: faster torque after field weakening and a shorter magnetizing at enable. Only upward; going into field weakening is not sped up, so the acim_fw loop keeps its gain. The boost only takes current q does not need: |d| <= sqrt(max_cur^2 - q^2), and with boost_max > 0 never more than boost_max * id_n on top of d (0.3 keeps the enable peak near the current limit).
• t_max: torque the current limit allows at the present flux, capped by acim_fw’s t_lim when that is nonzero. Link pid0.max_torque and pid0.neg_min_torque to it.

Pins #

References #

Source: .c File