Figure 3

ReadSignedADC0( &ReadADCParm );

// Set reference speed

if(uGF.bit.ChangeSpeed)

CtrlParm.qVelRef = ReadADCParm.qADValue/8;

else

CtrlParm.qVelRef = ReadADCParm.qADValue/16;

if( uGF.bit.OpenLoop )

{

// OPENLOOP: force rotating angle,Vd,Vq

if( uGF.bit.ChangeMode )

{

// just changed to openloop

uGF.bit.ChangeMode = 0;

// synchronize angles

OpenLoopParm.qAngFlux = CurModelParm.qAngFlux;

// VqRef & VdRef not used

CtrlParm.qVqRef = 0;

CtrlParm.qVdRef = 0;

}

OpenLoopParm.qVelMech = CtrlParm.qVelRef;

// calc rotational angle of rotor flux in 1.15 format

// just for reference & sign needed by CorrectPhase

CurModelParm.qVelMech = EncoderParm.qVelMech;

CurModel();

Figure 3 - Code Exerpt From ACIM.c (doControl() function exerpt)

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