Callisto4Bootloader: Controller Functions

Callisto4Bootloader

Modules
Controller Functions

## Modules

| PID Motor Control
| A Proportional Integral Derivative (PID) controller is a generic feedback control loop mechanism widely used in industrial control systems. A PID controller is the most commonly used type of feedback controller.
| Vector Clarke Transform

Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector. Generally the Clarke transform uses three-phase currents `Ia, Ib and Ic` to calculate currents in the two-phase orthogonal stator axis `Ialpha` and `Ibeta`. When `Ialpha` is superposed with `Ia` as shown in the figure below.

| Vector Inverse Clarke Transform
| Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases.
| Vector Park Transform

Forward Park transform converts the input two-coordinate vector to flux and torque components. The Park transform can be used to realize the transformation of the `Ialpha` and the `Ibeta` currents from the stationary to the moving reference frame and control the spatial relationship between the stator vector current and rotor flux vector. If we consider the d axis aligned with the rotor flux, the diagram below shows the current vector and the relationship from the two reference frames:

| Vector Inverse Park transform
| Inverse Park transform converts the input flux and torque components to two-coordinate vector.

## Detailed Description