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TMS570LS3137: Hercules Motorware Clarke Transformation

Furkan Aydogan1
Intellectual 450 points
Part Number: TMS570LS3137
Other Parts Discussed in Thread: MOTORWARE,

Hello I'm trying to understand clarke.h library of Hercules Motorware. For understanding technical background of Clarke, i follow "Digital Motor Control Software Library: Target Independent Math Blocks v1.3.pdf" (for C2000). Here is the transformation formula in this pdf: 

But in Hercules motorware clarke.h line 139, Ibeta transformation does not multiply by sqrt(3).  What is the reason of this difference ?

By the way, in following forum post  and  mentions about this issue.

  • 0
    TI__Mastermind 49120 points
    Hello,

    Yes, as Haixiao had confirmed, there needs to be a multiplication by 1/sqrt(3).

    Regards,
    Sunil
  • 0 in reply to Sunil Oak
    Intellectual 450 points

    So is this a bug ?

    TMS570LS3137_sensored_speed_smo also uses hercules motorware clarke library and both scale factors (alpha_sf and beta_sf) are setted 1.0 in ctrl.c

     

    In clarke.h:

    

    inline void CLARKE_run_twoInput(CLARKE_Handle clarkeHandle,const MATH_vec2 *pInVec,MATH_vec2 *pOutVec)
{
  CLARKE_Obj *clarke = (CLARKE_Obj *)clarkeHandle;

  float beta_sf = clarke->beta_sf;


  pOutVec->value[0] = pInVec->value[0];

  pOutVec->value[1] = ( pInVec->value[0] + (pInVec->value[1] * 2) ) * beta_sf;

  return;
} // end of CLARKE_run_twoInput() function
    

    

    In ctrl.c:
    

     
    

    CLARKE_setNumSensors(ctrl->clarkeHandle, 2 );
     CLARKE_setScaleFactors(ctrl->clarkeHandle, (1.0), (1.0) );
    

     
    
			
    

		
		
		
		
	
    
	
    
		
    
			
		
    
	
    

	            
                	
	
    
				
		                
                
                
                
                
                
                
        		
		
				
    
			
		
    
		
		 
		
		
     
    
	
    

    
			
    
			
    
		
    

		
    
	
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						in reply to Furkan Aydogan1
					
									
    
	
    
	                                    
                      
    
                        
                          TI__Mastermind
                        49120 points
                      
    
                          
                   		
		
    
					
    Yes, it is a bug in the formula used to calculate Ibeta.
    

    
Regards,
    
Sunil
    
			
    

		
		
		
		
	
    
	
    
		
    
			
		
    
	
    

	            
                 	
	
    
				
		                
                
                
                
                
                
                
        		
		
				
    
			
		
    
		
		 
		
		
     
    
	
    

    
			
    
			
    
		
    

		
    
	
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