DRV8301 Phase sequence error and GVDD_UV under voltage error

Hi Fridell,

What is the fully charged voltage of the batteries? Can you provide the specifics of the motor (Rated Voltage, current, inductance, datasheet if possible)?

It is possible the DRV8301 has been damaged, especially if the device is now hot with the motor disconnected. Prior to replacing it, would you check a few other items around the board and the motor?

Please measure the phase to phase resistances of the motor to ensure it has not been damaged.
Also please check the voltages of the regulators around the board.

Not sure what was done wrong in your software at this point.

the 82.5A is peak-peak, so it's actually +/- 41.25A
My feeling is that as you load the motor - I assume you are using InstaSPIN-BLDC - you lose commutation and the motor stalls, drawing its short circuit rated current, tripping the DRV8301.

With InstaSPIN-BLDC, until you add a current loop you aren't controlling the current, just the commutation base on a Bemf voltage threshold.

I suggest you order TMDSCNCD28069MISO and try InstaSPIN-FOC on this DRV8301 EVM and your motor. You will get superior performance much more quickly.

Hello. Your feeling Chris is probably also what happens. But I didn't know that the current was limited to +/-41,25A.

I have put in a order on the TMDSCNCD28069MISO a few hours ago, and hope to get a better performance with the Instaspin-FOC.

Rick: I will check out the motor's specifications on Monday, and also do some measurements. I have already ordered a new DRV8301, so I hope that replacing it will fix my problems.

Hello Rick and Chris!

I have now replaced the DRV8301-chip, and I am back to start. I am still using the F28035 MCU and I try to run my motor via the preflashed GUI. I have made some adjustments in Code Composer Studio, so that I can read out error-messages from the DRV8301. 

When I try to load up my motor, it stops each time when the current from my power-supply is around 5A. I have tried to read out the status registre from the DRV, and this is my result:

DRV8301_STAT_REG1:
When running: All bits are 0
After fault (motor loaded with more than 5A): All bits are 0 except Fault = 1. 

I have also checked my control-registre:

DRV8301_CNTRL_REG1:
Gate_Current 0
Gate_Reset 0
PWM_mode 0
OC_Mode 1
OC_ADJ_SET 15
Reserved 0

My motor is working fine, I have tried to replace it with another motor, and I get the same result. My power-supply gives me 32V and up to 15A. 

Final question: 
Why doesn't the DRV8301 let me load the motor with more than 5A? It should be capable of taking up to +/-41A. Is it software or hardware issues?

Hi Fridell,

Chris may have other ideas, but it sounds like the hardware and software are working properly. Power supply current and motor current do not always match. I have seen times where the motor current is 3 to 4 times higher than the power supply current.

It is best to measure the current through the motor with a current probe if you have one. The next best indication is the voltage across the sense resistors.

I stand by my previous posts. I think for IS-BLDC you would need to increase the PWM frequency for this motor. I suspect it is low inductance and has a high short circuit current. If possible I still think you should try InstaSPIN-FOC. You will certainly succeed in running the motor.

I have finally received my F28069 MCU with InstaSpin-FOC. After some tuning, the motor is spinning pretty good. With a PWM frequency of 25Hz, the motor runs smoothly up to about 50% of it's maximum RPM. When I increase the frequency to 40Hz, the motor runs smooth all the way with much bigger torque. BUT: The DRV8301 gets very hot!

My calculations tell me that 25Hz will give me about 30mA in the DRV8301, which is the maximum rating gate drive average current load.

Is there any solution for this or do I have to run the motor on 25Hz?

Hi Fridell,

Which motor driver kit are you using? I assume it is the DRV8301-HC-C2-KIT?

What is your supply voltage?

You are correct in that at 25kHz your are drawing ~30mA from the GVDD regulator (switching all 6 FETs with FOC). This will increase up to ~48mA (over spec for GVDD) at 40kHz. I think this will be ok for evaluation purposes but when you move to design your own PCB I recommend a MOSFET with a lower gate charge to support high switching frequencies.

The DRV8301 has internal over temperature protection so it will protect itself against over heating.

You can also try replacing the MOSFETs on the 8301 kit with another component if you are comfortable with this. The D2PAK is a fairly common footprint.

The MOSFETs are fairly difficult to remove though due to the extensive heatsinking.

please attach (drag and drop in rich formatting mode) your user.h

Nicholas:
Yes, I am using the DRV8301-HC-C2-KIT. It is supplied from batteries with 54V. I am considering changing the MOSFET's.

Chris:
Here is my user.h:

#ifndef _USER_H_
#define _USER_H_
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* modification, are permitted provided that the following conditions
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* notice, this list of conditions and the following disclaimer.
*
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*
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* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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//! \file solutions/instaspin_foc/boards/drv8301kit_revD/f28x/f2806xF/src/user.h
//! \brief Contains the public interface for user initialization data for the CTRL, HAL, and EST modules
//!
//! (C) Copyright 2012, Texas Instruments, Inc.


// **************************************************************************
// the includes

// modules
#include "sw/modules/types/src/types.h"
#include "sw/modules/motor/src/motor.h"
#include "sw/modules/est/src/32b/est.h"
#include "sw/modules/est/src/est_states.h"
#include "sw/modules/est/src/est_Flux_states.h"
#include "sw/modules/est/src/est_Ls_states.h"
#include "sw/modules/est/src/est_Rs_states.h"
#include "sw/modules/ctrl/src/32b/ctrl_obj.h"


// platforms
#include "sw/modules/fast/src/32b/userParams.h"

//!
//!
//! \defgroup USER USER
//!
//@{


#ifdef __cplusplus
extern "C" {
#endif

// **************************************************************************
// the defines


//! \brief CURRENTS AND VOLTAGES
// **************************************************************************
//! \brief Defines the full scale frequency for IQ variable, Hz
//! \brief All frequencies are converted into (pu) based on the ratio to this value
//! \brief this value MUST be larger than the maximum speed that you are expecting from the motor
#define USER_IQ_FULL_SCALE_FREQ_Hz (800.0) // 800 Example with buffer for 8-pole 6 KRPM motor to be run to 10 KRPM with field weakening; Hz =(RPM * Poles) / 120

//! \brief Defines full scale value for the IQ30 variable of Voltage inside the system
//! \brief All voltages are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST meet the following condition: USER_IQ_FULL_SCALE_VOLTAGE_V > 0.5 * USER_MOTOR_MAX_CURRENT * USER_MOTOR_Ls_d * USER_VOLTAGE_FILTER_POLE_rps,
//! \brief WARNING: otherwise the value can saturate and roll-over, causing an inaccurate value
//! \brief WARNING: this value is OFTEN greater than the maximum measured ADC value, especially with high Bemf motors operating at higher than rated speeds
//! \brief WARNING: if you know the value of your Bemf constant, and you know you are operating at a multiple speed due to field weakening, be sure to set this value higher than the expected Bemf voltage
//! \brief It is recommended to start with a value ~3x greater than the USER_ADC_FULL_SCALE_VOLTAGE_V and increase to 4-5x if scenarios where a Bemf calculation may exceed these limits
//! \brief This value is also used to calculate the minimum flux value: USER_IQ_FULL_SCALE_VOLTAGE_V/USER_EST_FREQ_Hz/0.7
#define USER_IQ_FULL_SCALE_VOLTAGE_V (35) // 24.0 Example for drv8301_revd typical usage and the Anaheim motor

//! \brief Defines the maximum voltage at the input to the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the voltage sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_VOLTAGE_V (66.32) // 66.32 drv8301_revd voltage scaling

//! \brief Defines the voltage scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_VOLTAGE_SF ((float_t)((USER_ADC_FULL_SCALE_VOLTAGE_V)/(USER_IQ_FULL_SCALE_VOLTAGE_V)))

//! \brief Defines the full scale current for the IQ variables, A
//! \brief All currents are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST be larger than the maximum current readings that you are expecting from the motor or the reading will roll over to 0, creating a control issue
#define USER_IQ_FULL_SCALE_CURRENT_A (41.25) // 41.25 Example for drv8301_revd typical usage

//! \brief Defines the maximum current at the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the current sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_CURRENT_A (82.5) // 82.5 drv8301_revd current scaling

//! \brief Defines the current scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_CURRENT_SF ((float_t)((USER_ADC_FULL_SCALE_CURRENT_A)/(USER_IQ_FULL_SCALE_CURRENT_A)))

//! \brief Defines the number of current sensors used
//! \brief Defined by the hardware capability present
//! \brief May be (2) or (3)
#define USER_NUM_CURRENT_SENSORS (3) // 3 Preferred setting for best performance across full speed range, allows for 100% duty cycle

//! \brief Defines the number of voltage (phase) sensors
//! \brief Must be (3)
#define USER_NUM_VOLTAGE_SENSORS (3) // 3 Required

//! \brief ADC current offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
#define I_A_offset (0.9986802936)
#define I_B_offset (1.000766098)
#define I_C_offset (0.9958973527)

//! \brief ADC voltage offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
#define V_A_offset (0.4546888471)
#define V_B_offset (0.4542990923)
#define V_C_offset (0.4537257552)


//! \brief CLOCKS & TIMERS
// **************************************************************************
//! \brief Defines the system clock frequency, MHz
#define USER_SYSTEM_FREQ_MHz (90.0)

//! \brief Defines the Pulse Width Modulation (PWM) frequency, kHz
//! \brief PWM frequency can be set directly here up to 30 KHz safely (60 KHz MAX in some cases)
//! \brief For higher PWM frequencies (60 KHz+ typical for low inductance, high current ripple motors) it is recommended to use the ePWM hardware
//! \brief and adjustable ADC SOC to decimate the ADC conversion done interrupt to the control system, or to use the software Que example.
//! \brief Otherwise you risk missing interrupts and disrupting the timing of the control state machine
#define USER_PWM_FREQ_kHz (25.0) //30.0 Example, 8.0 - 30.0 KHz typical; 45-80 KHz may be required for very low inductance, high speed motors

//! \brief Defines the maximum Voltage vector (Vs) magnitude allowed. This value sets the maximum magnitude for the output of the
//! \brief Id and Iq PI current controllers. The Id and Iq current controller outputs are Vd and Vq.
//! \brief The relationship between Vs, Vd, and Vq is: Vs = sqrt(Vd^2 + Vq^2). In this FOC controller, the
//! \brief Vd value is set equal to USER_MAX_VS_MAG*USER_VD_MAG_FACTOR. Vq = sqrt(USER_MAX_VS_MAG^2 - Vd^2).
//! \brief Set USER_MAX_VS_MAG = 1.0 for a pure sinewave with a peak at SQRT(3)/2 = 86.6% duty cycle. No current reconstruction is needed for this scenario.
//! \brief Set USER_MAX_VS_MAG = 2/SQRT(3) = 1.1547 for a pure sinewave with a peak at 100% duty cycle. Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief Set USER_MAX_VS_MAG = 4/3 = 1.3333 to create a trapezoidal voltage waveform. Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief For space vector over-modulation, see lab 10 for details on system requirements that will allow the SVM generator to go all the way to trapezoidal.
#define USER_MAX_VS_MAG_PU (1.0) // Set to 1.0 if a current reconstruction technique is not used. Look at the module svgen_current in lab10a-x for more info.


//! \brief Defines the Pulse Width Modulation (PWM) period, usec
//! \brief Compile time calculation
#define USER_PWM_PERIOD_usec (1000.0/USER_PWM_FREQ_kHz)

//! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz
//!
#define USER_ISR_FREQ_Hz ((float_t)USER_PWM_FREQ_kHz * 1000.0 / (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK)

//! \brief Defines the Interrupt Service Routine (ISR) period, usec
//!
#define USER_ISR_PERIOD_usec (USER_PWM_PERIOD_usec * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK)


//! \brief DECIMATION
// **************************************************************************
//! \brief Defines the number of pwm clock ticks per isr clock tick
//! Note: Valid values are 1, 2 or 3 only
#define USER_NUM_PWM_TICKS_PER_ISR_TICK (3)

//! \brief Defines the number of isr ticks (hardware) per controller clock tick (software)
//! \brief Controller clock tick (CTRL) is the main clock used for all timing in the software
//! \brief Typically the PWM Frequency triggers (can be decimated by the ePWM hardware for less overhead) an ADC SOC
//! \brief ADC SOC triggers an ADC Conversion Done
//! \brief ADC Conversion Done triggers ISR
//! \brief This relates the hardware ISR rate to the software controller rate
//! \brief Typcially want to consider some form of decimation (ePWM hardware, CURRENT or EST) over 16KHz ISR to insure interrupt completes and leaves time for background tasks
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK (1) // 2 Example, controller clock rate (CTRL) runs at PWM / 2; ex 30 KHz PWM, 15 KHz control

//! \brief Defines the number of controller clock ticks per current controller clock tick
//! \brief Relationship of controller clock rate to current controller (FOC) rate
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK (1) // 1 Typical, Forward FOC current controller (Iq/Id/IPARK/SVPWM) runs at same rate as CTRL.

//! \brief Defines the number of controller clock ticks per estimator clock tick
//! \brief Relationship of controller clock rate to estimator (FAST) rate
//! \brief Depends on needed dynamic performance, FAST provides very good results as low as 1 KHz while more dynamic or high speed applications may require up to 15 KHz
#define USER_NUM_CTRL_TICKS_PER_EST_TICK (1) // 1 Typical, FAST estimator runs at same rate as CTRL;

//! \brief Defines the number of controller clock ticks per speed controller clock tick
//! \brief Relationship of controller clock rate to speed loop rate
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK (15) // 15 Typical to match PWM, ex: 15KHz PWM, controller, and current loop, 1KHz speed loop

//! \brief Defines the number of controller clock ticks per trajectory clock tick
//! \brief Relationship of controller clock rate to trajectory loop rate
//! \brief Typically the same as the speed rate
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK (15) // 15 Typical to match PWM, ex: 10KHz controller & current loop, 1KHz speed loop, 1 KHz Trajectory

//! \brief Defines the controller frequency, Hz
//! \brief Compile time calculation
#define USER_CTRL_FREQ_Hz (uint_least32_t)(USER_ISR_FREQ_Hz/USER_NUM_ISR_TICKS_PER_CTRL_TICK)

//! \brief Defines the estimator frequency, Hz
//! \brief Compile time calculation
#define USER_EST_FREQ_Hz (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_EST_TICK)

//! \brief Defines the trajectory frequency, Hz
//! \brief Compile time calculation
#define USER_TRAJ_FREQ_Hz (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_TRAJ_TICK)

//! \brief Defines the controller execution period, usec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_usec (USER_ISR_PERIOD_usec * USER_NUM_ISR_TICKS_PER_CTRL_TICK)

//! \brief Defines the controller execution period, sec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_sec ((float_t)USER_CTRL_PERIOD_usec/(float_t)1000000.0)


//! \brief LIMITS
// **************************************************************************
//! \brief Defines the maximum negative current to be applied in Id reference
//! \brief Used in field weakening only, this is a safety setting (e.g. to protect against demagnetization)
//! \brief User must also be aware that overall current magnitude [sqrt(Id^2 + Iq^2)] should be kept below any machine design specifications
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A (-0.5 * USER_MOTOR_MAX_CURRENT) // -0.5 * USER_MOTOR_MAX_CURRENT Example, adjust to meet safety needs of your motor

//! \brief Defines the low speed limit for the flux integrator, pu
//! \brief This is the speed range (CW/CCW) at which the ForceAngle object is active, but only if Enabled
//! \brief Outside of this speed - or if Disabled - the ForcAngle will NEVER be active and the angle is provided by FAST only
#define USER_ZEROSPEEDLIMIT (1.0 / USER_IQ_FULL_SCALE_FREQ_Hz) // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz

//! \brief Defines the force angle frequency, Hz
//! \brief Frequency of stator vector rotation used by the ForceAngle object
//! \brief Can be positive or negative
#define USER_FORCE_ANGLE_FREQ_Hz (USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz) // 1.0 Typical force angle start-up speed

//! \brief Defines the maximum current slope for Id trajectory during PowerWarp
//! \brief For Induction motors only, controls how fast Id input can change under PowerWarp control
#define USER_MAX_CURRENT_SLOPE_POWERWARP (0.3*USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz) // 0.3*RES_EST_CURRENT / IQ_FULL_SCALE_CURRENT / TRAJ_FREQ Typical to produce 1-sec rampup/down

//! \brief Defines the starting maximum acceleration AND deceleration for the speed profiles, Hz/s
//! \brief Updated in run-time through user functions
//! \brief Inverter, motor, inertia, and load will limit actual acceleration capability
#define USER_MAX_ACCEL_Hzps (20.0) // 20.0 Default

//! \brief Defines maximum acceleration for the estimation speed profiles, Hz/s
//! \brief Only used during Motor ID (commission)
#define USER_MAX_ACCEL_EST_Hzps (5.0) // 5.0 Default, don't change

//! \brief Defines the maximum current slope for Id trajectory during estimation
#define USER_MAX_CURRENT_SLOPE (USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz) // USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz Default, don't change

//! \brief Defines the fraction of IdRated to use during rated flux estimation
//!
#define USER_IDRATED_FRACTION_FOR_RATED_FLUX (1.0) // 1.0 Default, don't change

//! \brief Defines the fraction of IdRated to use during inductance estimation
//!
#define USER_IDRATED_FRACTION_FOR_L_IDENT (1.0) // 1.0 Default, don't change

//! \brief Defines the IdRated delta to use during estimation
//!
#define USER_IDRATED_DELTA (0.00002)

//! \brief Defines the fraction of SpeedMax to use during inductance estimation
//!
#define USER_SPEEDMAX_FRACTION_FOR_L_IDENT (1.0) // 1.0 Default, don't change

//! \brief Defines flux fraction to use during inductance identification
//!
#define USER_FLUX_FRACTION (1.0) // 1.0 Default, don't change

//! \brief Defines the PowerWarp gain for computing Id reference
//! \brief Induction motors only
#define USER_POWERWARP_GAIN (1.0) // 1.0 Default, don't change

//! \brief Defines the R/L estimation frequency, Hz
//! \brief User higher values for low inductance motors and lower values for higher inductance
//! \brief motors. The values can range from 100 to 300 Hz.
#define USER_R_OVER_L_EST_FREQ_Hz (300) // 300 Default


//! \brief POLES
// **************************************************************************
//! \brief Defines the analog voltage filter pole location, Hz
//! \brief Must match the hardware filter for Vph
#define USER_VOLTAGE_FILTER_POLE_Hz (335.648) // 335.648, value for drv8301_revd hardware

//! \brief Defines the analog voltage filter pole location, rad/s
//! \brief Compile time calculation from Hz to rad/s
#define USER_VOLTAGE_FILTER_POLE_rps (2.0 * MATH_PI * USER_VOLTAGE_FILTER_POLE_Hz)

//! \brief Defines the software pole location for the voltage and current offset estimation, rad/s
//! \brief Should not be changed from default of (20.0)
#define USER_OFFSET_POLE_rps (20.0) // 20.0 Default, do not change

//! \brief Defines the software pole location for the flux estimation, rad/s
//! \brief Should not be changed from default of (100.0)
#define USER_FLUX_POLE_rps (100.0) // 100.0 Default, do not change

//! \brief Defines the software pole location for the direction filter, rad/s
#define USER_DIRECTION_POLE_rps (6.0) // 6.0 Default, do not change

//! \brief Defines the software pole location for the speed control filter, rad/s
#define USER_SPEED_POLE_rps (100.0) // 100.0 Default, do not change

//! \brief Defines the software pole location for the DC bus filter, rad/s
#define USER_DCBUS_POLE_rps (100.0) // 100.0 Default, do not change

//! \brief Defines the convergence factor for the estimator
//! \brief Do not change from default for FAST
#define USER_EST_KAPPAQ (1.5) // 1.5 Default, do not change

// **************************************************************************
// end the defines


//! \brief USER MOTOR & ID SETTINGS
// **************************************************************************

//! \brief Define each motor with a unique name and ID number
// BLDC & SMPM motors
#define Estun_EMJ_04APB22 101
#define Anaheim_BLY172S 102
#define My_Motor 104
#define hobby_3p5T 105
#define hobby_4p5T 106
#define small_hobby 107
#define teknic_2310P 108
#define hobbywing_ezrun_8p5T 109
#define eflite_helicopter_420 110
#define Bodine_34B3FEBL 114
#define Pittman_elcom_5233B599 115
#define medical_instrument 117
#define Revolt_RV100 118


// IPM motors
// If user provides separate Ls-d, Ls-q
// else treat as SPM with user or identified average Ls
#define Belt_Drive_Washer_IPM 201

// ACIM motors
#define Marathon_5K33GN2A 301
#define Kinetek_YDQ1p3_4 302
#define LPKF_CAD_CAM 303

//! \brief Uncomment the motor which should be included at compile
//! \brief These motor ID settings and motor parameters are then available to be used by the control system
//! \brief Once your ideal settings and parameters are identified update the motor section here so it is available in the binary code
//#define USER_MOTOR Estun_EMJ_04APB22
//#define USER_MOTOR Anaheim_BLY172S
//#define USER_MOTOR hobby_3p5T
//#define USER_MOTOR hobby_4p5T
//#define USER_MOTOR My_Motor
//#define USER_MOTOR small_hobby
//#define USER_MOTOR Belt_Drive_Washer_IPM
//#define USER_MOTOR Marathon_5K33GN2A
//#define USER_MOTOR teknic_2310P
//#define USER_MOTOR hobbywing_ezrun_8p5T
//#define USER_MOTOR eflite_helicopter_420
//#define USER_MOTOR Bodine_34B3FEBL
//#define USER_MOTOR Pittman_elcom_5233B599
//#define USER_MOTOR medical_instrument
//#define USER_MOTOR Kinetek_YDQ1p3_4
//#define USER_MOTOR LPKF_CAD_CAM
#define USER_MOTOR Revolt_RV100

#if (USER_MOTOR == Revolt_RV100)
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (7)
#define USER_MOTOR_Rr (0)
#define USER_MOTOR_Rs (0.01742578)
#define USER_MOTOR_Ls_d (3.908677e-05)
#define USER_MOTOR_Ls_q (3.908677e-05)
#define USER_MOTOR_RATED_FLUX (0.03764423)
#define USER_MOTOR_MAGNETIZING_CURRENT (0)
#define USER_MOTOR_RES_EST_CURRENT (12)
#define USER_MOTOR_IND_EST_CURRENT (-12)
#define USER_MOTOR_MAX_CURRENT (40)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0)


#else
#error No motor type specified
#endif

#ifndef USER_MOTOR
#error Motor is not defined in user.h
#endif

#ifndef USER_MOTOR_TYPE
#error The motor type is not defined in user.h
#endif

#ifndef USER_MOTOR_NUM_POLE_PAIRS
#error Number of motor pole pairs is not defined in user.h
#endif

#ifndef USER_MOTOR_Rr
#error The rotor resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Rs
#error The stator resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_d
#error The direct stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_q
#error The quadrature stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_RATED_FLUX
#error The rated flux of motor is not defined in user.h
#endif

#ifndef USER_MOTOR_MAGNETIZING_CURRENT
#error The magnetizing current is not defined in user.h
#endif

#ifndef USER_MOTOR_RES_EST_CURRENT
#error The resistance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_IND_EST_CURRENT
#error The inductance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_MAX_CURRENT
#error The maximum current is not defined in user.h
#endif

#ifndef USER_MOTOR_FLUX_EST_FREQ_Hz
#error The flux estimation frequency is not defined in user.h
#endif


// **************************************************************************
// the functions


//! \brief Sets the user parameter values
//! \param[in] pUserParams The pointer to the user param structure
extern void USER_setParams(USER_Params *pUserParams);


//! \brief Checks for errors in the user parameter values
//! \param[in] pUserParams The pointer to the user param structure
extern void USER_checkForErrors(USER_Params *pUserParams);


//! \brief Gets the error code in the user parameters
//! \param[in] pUserParams The pointer to the user param structure
//! \return The error code
extern USER_ErrorCode_e USER_getErrorCode(USER_Params *pUserParams);


//! \brief Sets the error code in the user parameters
//! \param[in] pUserParams The pointer to the user param structure
//! \param[in] errorCode The error code
extern void USER_setErrorCode(USER_Params *pUserParams,const USER_ErrorCode_e errorCode);


//! \brief Recalculates Inductances with the correct Q Format
//! \param[in] handle The controller (CTRL) handle
extern void USER_softwareUpdate1p6(CTRL_Handle handle);


//! \brief Updates Id and Iq PI gains
//! \param[in] handle The controller (CTRL) handle
extern void USER_calcPIgains(CTRL_Handle handle);


//! \brief Computes the scale factor needed to convert from torque created by Ld, Lq, Id and Iq, from per unit to Nm
//! \return The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm, in IQ24 format
extern _iq USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(void);


//! \brief Computes the scale factor needed to convert from torque created by flux and Iq, from per unit to Nm
//! \return The scale factor to convert torque from Flux * Iq from per unit to Nm, in IQ24 format
extern _iq USER_computeTorque_Flux_Iq_pu_to_Nm_sf(void);


//! \brief Computes the scale factor needed to convert from per unit to Wb
//! \return The scale factor to convert from flux per unit to flux in Wb, in IQ24 format
extern _iq USER_computeFlux_pu_to_Wb_sf(void);


//! \brief Computes the scale factor needed to convert from per unit to V/Hz
//! \return The scale factor to convert from flux per unit to flux in V/Hz, in IQ24 format
extern _iq USER_computeFlux_pu_to_VpHz_sf(void);


//! \brief Computes Flux in Wb or V/Hz depending on the scale factor sent as parameter
//! \param[in] handle The controller (CTRL) handle
//! \param[in] sf The scale factor to convert flux from per unit to Wb or V/Hz
//! \return The flux in Wb or V/Hz depending on the scale factor sent as parameter, in IQ24 format
extern _iq USER_computeFlux(CTRL_Handle handle, const _iq sf);


//! \brief Computes Torque in Nm
//! \param[in] handle The controller (CTRL) handle
//! \param[in] torque_Flux_sf The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm
//! \param[in] torque_Ls_sf The scale factor to convert torque from Flux * Iq from per unit to Nm
//! \return The torque in Nm, in IQ24 format
extern _iq USER_computeTorque_Nm(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf);


//! \brief Computes Torque in lbin
//! \param[in] handle The controller (CTRL) handle
//! \param[in] torque_Flux_sf The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to lbin
//! \param[in] torque_Ls_sf The scale factor to convert torque from Flux * Iq from per unit to lbin
//! \return The torque in lbin, in IQ24 format
extern _iq USER_computeTorque_lbin(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf);


#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif // end of _USER_H_ definition

increase this to at least your battery voltage
#define USER_IQ_FULL_SCALE_VOLTAGE_V (35)

I suggest changing your PWM frequency to produce an integer if you want to use the (3) feature. Ex: 24 KHz, that way your (3) produces an 8 KHz tick rate. You would then change these to that same integer
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK (8)
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK (8)


This looks like a high speed hobby motor. What is the max frequency? About 800 Hz?
I suggest changing
#define USER_IQ_FULL_SCALE_FREQ_Hz (1200.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (60.0)

I can tell you now that you are going to have problems with this motor at high speeds with this EVM. The current feedback gets VERY noisy over ~50% duty cycle and the current readings for a low inductance motor like this will start to break down. Eventually bad data into FAST will produce bad estimates and the control system will go unstable.

Thank you very much for your reply Chris.

I have now tried to change the settings that you describe and tune the settings in different directions. I have also observed the motorcurrent via a Fluke Power Analyser instrument. When I set the IQ_ref (I'm running lab 5a) to about 20 (Q-value 24), the motor stops accellerating. Final speed is about 5100 rpm. The average current is about 15A, and the peak current is around 41A.

As you say Chris, the current feedback is very noisy when the motor is running at about 4000-5000rpm (maximum rpm is about 7500). I believe that this causes several current spikes >41,25A that stops the controller from giving more power to the motor. This is really bad for me since the actual average current is much lower than the motor's and development-kit's maximum current!

Is there any way I could fix or go around this problem? Is it possible to do it software or maybe put in some extra coils in series with the motor to produce som extra inductance? Or is it possible to manipulate the current-reading with a low-pass filter to avoid the current-spikes?

Thank you in advance!

I think better current sense layout is one priority.
Yes, if you can add external inductance this certainly is a very good thing for the current waveform.
See this post

e2e.ti.com/.../1254418

Hello Nicholas!

I have now replaced the MOSFET's. I can now run with up to 54khz frequency.

After the replacement, I was running on a 30V power supply. Everything was running fine for about 1h.
I changed to my 54V battery and the DRV8301 goes into error with the message GVDD_under voltage. Nothing works any more, even if I go back to my power supply.

This is the same fault as i had some weeks ago. Do you think that the DRV8301 chip can be damaged once more? The GVDD reaches 3,02V and stops. I see that the fault flag is on when the voltage is below 8V. I have checked both the C4 and C14 capacitors, they are both fine.

Can you guys help me with this?

Hi Fridell,

It sounds like you are damaging the DRV8301 with the higher voltage battery. 54V is fairly close to the device absolute maximum rating. You need to verify that the battery supply is not raising up during operation of the motor (common occurence in motor system).

The most likely conditions to check are high speed and during rapid braking periods.