Genuine Original POWER STEERING GEAR BOX RACK PINION for Peugeot 207/2008/301, 4001K3 / 1611686380, 9807390680
Figure 2: Step 2a: Measure the angle of the rotor position, and the angle of the rotor flux, d
To accomplish this, we need to do two things. First, if we're going to properly align the net stator field to the rotor flux, we need to know where the rotor flux is, as illustrated in Figure 2. There are several ways to do this, but most involve mounting a high-resolution angle sensor on the shaft of the motor, such as an encoder or a resolver. For a BPM motor, if we know the angle of the rotor shaft, we know the angle of the rotor flux. In most cases, this angle is measured as the value between the rotor flux axis and the magnetic axis of the phase A stator winding. The rotating rotor flux axis is often referred to as the direct axis, or simply, the d-axis.
Second, we need to transfer the motor phase currents we measured in Step 1 to equivalent values on the rotating reference frame established by this d-axis. In so doing, we can dramatically simplify the equations involved with regulating the current. To illustrate why this is, imagine that you're trying to take a close-up video of your child on a merry-go-round. To keep your child in the center of the picture, you not only have to anticipate the up and down motion of the horse, but you also have to factor in the sinusoidal components of the merry-go-round rotation. In other words, trying to servo on a rotating target from a stationary reference point requires many calculations per second and is a challenging problem to say the least.
But what if you jump up on the merry-go-round with your child and try again? By doing so, you don't have to worry about the mathematical artifacts associated with the merry-go-round rotation since they drop out of the equation altogether!
The process of jumping up on the wheel in field-oriented terminology is called thestationary to rotating frame transformation or the Forward Park transform.
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