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I'm trying to write my own soft for Field Oriented Control of induction motor. I have finished hardware - 3ph 3kW inverter, controled by STM32F4, and V/F open loop algorithm to control ACIM - it works. Now I'm trying to implement FOC algorithm.

As we know we need to do Clark&Park transformation.

To calculate Park transformation it's necessary to know rotor angle flux position. Here some details:

ftp://ftp.ti.com/pub/dml/DMLrequest/Christy_FTP-10-30-12/controlSUITE/development_kits/HVMotorCtrl+PfcKit_v2.0/HVACI_Sensored/~Docs/Sensored%20FOC%20of%20ACI.pdf

http://ww1.microchip.com/downloads/en/AppNotes/ACIM Vector Control 00908a.pdf

Another note propose to use speed integration to do this:

http://tinyurl.com/y9lrb4cr

Could anyone expalin how to do this exactly?

I'm measuring currents (5kHz sampling), calculate Clark and also measure speed, slip.

Thanks for any response.

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# Induction motor - calculating rotor flux angle

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