Vector Clarke TransformΒΆ

__STATIC_FORCEINLINE void riscv_clarke_f32(float32_t Ia, float32_t Ib, float32_t * pIalpha, float32_t * pIbeta)
__STATIC_FORCEINLINE void riscv_clarke_q31(q31_t Ia, q31_t Ib, q31_t * pIalpha, q31_t * pIbeta)
group clarke

Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector. Generally the Clarke transform uses three-phase currents Ia, Ib and Ic to calculate currents in the two-phase orthogonal stator axis Ialpha and Ibeta. When Ialpha is superposed with Ia as shown in the figure below.

and

Ia + Ib + Ic = 0, in this condition Ialpha and Ibeta can be calculated using only Ia and Ib.../../../_images/clarke.png

The function operates on a single sample of data and each call to the function returns the processed output. The library provides separate functions for Q31 and floating-point data types.

Algorithm

where

Ia and Ib are the instantaneous stator phases and pIalpha and pIbeta are the two coordinates of time invariant vector. ../../../_images/clarkeFormula.png

Fixed-Point Behavior

Care must be taken when using the Q31 version of the Clarke transform. In particular, the overflow and saturation behavior of the accumulator used must be considered. Refer to the function specific documentation below for usage guidelines.

Functions

__STATIC_FORCEINLINE void riscv_clarke_f32(float32_t Ia, float32_t Ib, float32_t * pIalpha, float32_t * pIbeta)

Floating-point Clarke transform.

Return

none

Parameters
  • [in] Ia: input three-phase coordinate a

  • [in] Ib: input three-phase coordinate b

  • [out] pIalpha: points to output two-phase orthogonal vector axis alpha

  • [out] pIbeta: points to output two-phase orthogonal vector axis beta

__STATIC_FORCEINLINE void riscv_clarke_q31(q31_t Ia, q31_t Ib, q31_t * pIalpha, q31_t * pIbeta)

Clarke transform for Q31 version.

Return

none

Scaling and Overflow Behavior

The function is implemented using an internal 32-bit accumulator. The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. There is saturation on the addition, hence there is no risk of overflow.

Parameters
  • [in] Ia: input three-phase coordinate a

  • [in] Ib: input three-phase coordinate b

  • [out] pIalpha: points to output two-phase orthogonal vector axis alpha

  • [out] pIbeta: points to output two-phase orthogonal vector axis beta