Control Algorithms

FOC (Field-Oriented Control)
Scalar V/f control
Six-step commutation
Sinusoidal commutation
DTC (Direct Torque Control)
Model predictive control

Position/Speed Feedback

Encoder interface (quadrature)
Hall sensor configuration
Resolver interface
Sensorless algorithms
Back-EMF zero-crossing
Observer-based estimation

Current Sensing

Shunt resistor configuration
Current amplifier setup
ADC synchronization with PWM
Oversampling strategies
DC offset compensation
Phase reconstruction

Control Loops

Current loop (torque control)
Speed loop (velocity control)
Position loop (servo control)
Anti-windup strategies
Feed-forward compensation
Gain tuning methods

Motor Identification

Parameter measurement
Auto-tuning procedures
Resistance/inductance measurement
Back-EMF constant
Inertia estimation

Protection Features

Overcurrent protection
Overvoltage protection
Overtemperature monitoring
Stall detection
Safe torque off (STO)

Target Processes

device-driver-development.js - Motor driver implementation
real-time-architecture-design.js - Real-time control design
isr-design.js - Control loop ISR design

Dependencies

Motor control libraries (ST MC SDK, TI MotorWare)
DSP libraries for fixed-point math
Encoder/Hall sensor hardware

Usage Context

This skill is invoked when tasks require:

Motor driver development
FOC algorithm implementation
Position/speed control
Motor parameter tuning
Protection circuit design

Motor Types Supported

Type	Control Method	Feedback
Brushed DC	PWM duty cycle	Encoder optional
BLDC	Six-step, FOC	Hall, encoder, sensorless
PMSM	FOC	Encoder, resolver, sensorless
Stepper	Step/direction, microstepping	Open-loop, encoder
AC Induction	V/f, FOC	Encoder, sensorless

FOC Implementation Example

typedef struct {
    float i_alpha, i_beta;    // Clarke transform output
    float i_d, i_q;           // Park transform output
    float v_d, v_q;           // Voltage commands
    float v_alpha, v_beta;    // Inverse Park output
    float theta;              // Rotor angle
    float speed;              // Rotor speed
} foc_state_t;

void foc_current_loop(foc_state_t* state, float i_a, float i_b, float i_c) {
    // Clarke transform
    clarke_transform(i_a, i_b, i_c, &state->i_alpha, &state->i_beta);

    // Park transform
    park_transform(state->i_alpha, state->i_beta, state->theta,
                   &state->i_d, &state->i_q);

    // PI controllers
    state->v_d = pi_controller(&pid_d, state->i_d_ref - state->i_d);
    state->v_q = pi_controller(&pid_q, state->i_q_ref - state->i_q);

    // Inverse Park
    inv_park_transform(state->v_d, state->v_q, state->theta,
                       &state->v_alpha, &state->v_beta);

    // SVPWM
    svpwm_generate(state->v_alpha, state->v_beta, pwm_duties);
}

Configuration

motor_control:
  motor_type: bldc | pmsm | stepper | induction
  control_method: foc | six_step | vf | step_dir
  pwm_frequency: 20000  # Hz
  current_loop_rate: 20000  # Hz
  speed_loop_rate: 1000  # Hz
  feedback: encoder | hall | sensorless

motor-control

Motor Control Skill

Overview

Capabilities

PWM Generation