Which algorithm is AMMCLib based on?

Gibby — Sun, 18 Feb 2024 15:12:46 GMT

Which algorithm is AMMCLib (S32K14x_AMMCLIB_v1.1.34), specifically AMCLIB_BemfObsrvDQ and AMCLIB_TrackObsrv based on? Are they based on sliding mode observer? I'm wondering the meanings of their params. Many thanks in advance.

Re: Which algorithm is AMMCLib based on?

petrz_ — Thu, 22 Feb 2024 13:07:57 GMT

Hi, the AMCLIB_BemfObsrvDQ is not a sliding mode observer. It’s a Luenberger-type observer which estimates BEMF in a quasi-synchronous rotating coordinate γδ using angle of θγδ (angle between γ-axis and α-axis) for Park transformation. The BEMF in coordinate γδ reflects the angle error (θerror ) between γ-axis and the d-axis of the rotor. Then, a tracking observer (AMCLIB_TrackObsrv) is used to make θerror approach to 0, so that θγδ will be the real rotor position in the end. The observer is based on the mathematical model of the motor, thus the parameters of the observer are derived from the parameters of the motor. The AMMCLib User's Guide provides equations for calculating the observer parameters from the motor parameters.

S32 SDK中的主题 Re: Which algorithm is AMMCLib based on?

Which algorithm is AMMCLib based on?

Re: Which algorithm is AMMCLib based on?