Query regarding controll of Iq_ref in insta-spin FOC algorithm.

You can do that by setting positive and negative limits independently in ctrl.h, under function CTRL_runOnLine_User(). So from this code:

 // when appropriate, run the PID speed controller
 if(CTRL_doSpeedCtrl(handle))
   {
     _iq refValue = TRAJ_getIntValue(obj->trajHandle_spd);
     _iq fbackValue = EST_getFm_pu(obj->estHandle);
     _iq outMax = TRAJ_getIntValue(obj->trajHandle_spdMax);
     _iq outMin = -outMax;

     // reset the speed count
     CTRL_resetCounter_speed(handle);

     PID_setMinMax(obj->pidHandle_spd,outMin,outMax);

     PID_run_spd(obj->pidHandle_spd,refValue,fbackValue,CTRL_getSpd_out_addr(handle));
   }

For example if you want to set a hard limit of -2.0 Amperes, then you can do this:

 // when appropriate, run the PID speed controller
 if(CTRL_doSpeedCtrl(handle))
   {
     _iq refValue = TRAJ_getIntValue(obj->trajHandle_spd);
     _iq fbackValue = EST_getFm_pu(obj->estHandle);
     _iq outMax = TRAJ_getIntValue(obj->trajHandle_spdMax);
     _iq outMin = -_IQ(2.0 / USER_IQ_FULL_SCALE_CURRENT_A);

     // reset the speed count
     CTRL_resetCounter_speed(handle);

     PID_setMinMax(obj->pidHandle_spd,outMin,outMax);

     PID_run_spd(obj->pidHandle_spd,refValue,fbackValue,CTRL_getSpd_out_addr(handle));
   }

-Jorge

Thank you jorge.

I try this but I can not able to change value min, max of pidHandle_spd. I try below trail.

1. I follow same as you mention, but when I get value (for debug purpose) PID_getOutMax(obj->pidHandle_spd) using this function I shown that value is default value. Not modified value.

2.Then I increment one global variable in CTRL_runOnLine_User() and CTRL_runOnLine() these function, but this variable can not increment any value in online state (Ctrlstate and Eststate). So I think these function can not call from main_ISR().

3.Then I put below code in updateGlobalVariables_motor() function.

if(one_time_flag == 0)

{

one_time_flag = 1;

CTRL_Obj *obj1 = (CTRL_Obj *)ctrlHandle;

_iq outMax = _IQ(0.50);

_iq outMin = _IQ(-0.50);

PID_setMinMax(obj1->pidHandle_spd,outMin,outMax);

}

so I see, value of min, max of pidHandle_spd change to new value but when I set gMotorVars.Flag_Run_Identify = 1 (Ctrlstate and Eststate = online) than min, max of pidHandle_spd value will change to default value not modified value.

General information:

I am using TMS320F28069F controller and motorware13 example lab2a implementation in my custom board for AC induction motor 415V/50Hz system.

Waiting for your reply.

Thanks

Any update!!!

For what you want to do you need to use lab 2b. This is because lab 2a uses ctrl.c/h from ROM, and the following is done in ROM when you call CTRL_run()

 // when appropriate, run the PID speed controller
 if(CTRL_doSpeedCtrl(handle))
   {
     _iq refValue = TRAJ_getIntValue(obj->trajHandle_spd);
     _iq fbackValue = EST_getFm_pu(obj->estHandle);
     _iq outMax = TRAJ_getIntValue(obj->trajHandle_spdMax);
     _iq outMin = -outMax;

     // reset the speed count
     CTRL_resetCounter_speed(handle);

     PID_setMinMax(obj->pidHandle_spd,outMin,outMax);

     PID_run_spd(obj->pidHandle_spd,refValue,fbackValue,CTRL_getSpd_out_addr(handle));
   }

So it overwrites the Min Max values you write outside of ROM.

What you need to do then is use lab 2b, which uses ctrl.c/h outside of ROM, have you code as you mention in your post, and remove the highlighted code in ctrl.h, function CTRL_runOnLine_User():

 // when appropriate, run the PID speed controller
 if(CTRL_doSpeedCtrl(handle))
   {
     _iq refValue = TRAJ_getIntValue(obj->trajHandle_spd);
     _iq fbackValue = EST_getFm_pu(obj->estHandle);
     _iq outMax = TRAJ_getIntValue(obj->trajHandle_spdMax);
     _iq outMin = -outMax;

     // reset the speed count
     CTRL_resetCounter_speed(handle);

     //PID_setMinMax(obj->pidHandle_spd,outMin,outMax);

     PID_run_spd(obj->pidHandle_spd,refValue,fbackValue,CTRL_getSpd_out_addr(handle));
   }

Dear jorge,

Thank you.

I added these .C file(clarke, ctrl, filter_fo, ipark, offset, park, pid, svgen, traj) and .H file(dlog4ch

) to convert lab 2a example to lab 2b example (as per lab pdf) .

Is there any other things to do?

Dear jorge,

Also I change in main_ISR() as per below.

interrupt void mainISR(void)
{
// HAL_PwmData_t negPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

// run the controller

// CTRL_run(ctrlHandle,halHandle,&gAdcData,&negPwmData);

CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);

/* // negate PwmData generated by SVGEN module in ROM

gPwmData.Tabc.value[0] = _IQmpy(negPwmData.Tabc.value[0], _IQ(-1.0));

gPwmData.Tabc.value[1] = _IQmpy(negPwmData.Tabc.value[1], _IQ(-1.0));

gPwmData.Tabc.value[2] = _IQmpy(negPwmData.Tabc.value[2], _IQ(-1.0));

*/
…..............
…..........

return;
} // end of mainISR() function

but when I see cmpA value using below function, I got last pending value of cmpr, it can not set half value of period.

act.plc_panal8 = HAL_readPwmCmpA(halHandle, PWM_Number_3);

and because of this when I run again, high current gone in starting pulse.

Any idea? Is there any missing or other things to do? Or I have to put

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)}; in mainISR()?

Thanks

That's really all you need to do. Take a look at this post that talks about an initial pulse. I think that will take care of the initial pulse you are seeing:

http://e2e.ti.com/support/microcontrollers/c2000/f/902/t/300135.aspx?pi310980=2

-Jorge

I just realized you are the author of the other forum post :)

Anyways, give it a try and let me know if it helped.