I am using DRV8312_69M_KIT to control the BLDC with internal gearbox and quadrature encoder.
I have problem with sensored inertia identification lab (Lab 12a).
Problem Description:
When I do the following process to start the lab:
1. Set gMotorVars.Flag_enableSys to 1
2. Set gMotorVars.Flag_Run_Identify to 1
3. Set gMotorVars.SpinTAC.VelIdGoalSpeed_krpm to 5.5 (the rated speed = Rated Speed * Gear Ratio = 551 * 9.9)
4. Set gMotorVars.SpinTAC.VelIdRun to 1
gMotorVars.SpinTAC.VelIdErrorID will report 2004 error, the motor doesn't spin and become very hot.
Then I following the Lab Procedure, reduce the gMotorVars.SpinTAC.VelIdGoalSpeed_krpm to the half of rated speed even to 0.1krpm, still report 2004 error.
I also try to reduce gMotorVars.SpinTAC.VelIdTorqueRampTime_sec to 1, but no effect.
Encoder Evaluate:
I have evaluated the encoder connection:
I have moved the motor 1 turn (anti clockwise) and st_obj.vel.conv.Pos_mrev was 10.0 (because of the gearbox ratio is 10) so both resolution encoder lines are OK.
I have performed lab 5c, 5d, 5e without problem.
Motor Data:
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (2)
#define USER_MOTOR_Rr (NULL) // Always be NULL for PMSM
#define USER_MOTOR_Rs (7.03873)
#define USER_MOTOR_Ls_d (0.003110327)
#define USER_MOTOR_Ls_q (0.003110327)
#define USER_MOTOR_RATED_FLUX (0.1041766)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL) // Always be NULL for PMSM
#define USER_MOTOR_RES_EST_CURRENT (1.0)
#define USER_MOTOR_IND_EST_CURRENT (-1.0)
#define USER_MOTOR_MAX_CURRENT (4.0)
#define USER_MOTOR_IDENT_FREQUENCY_Hz (20.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0)
#define USER_MOTOR_ENCODER_LINES (500.0)
#define USER_MOTOR_MAX_SPEED_KRPM (5.5)
#define USER_SYSTEM_INERTIA (0.004894733429)
#define USER_SYSTEM_FRICTION (0.01161205769)
Can you provide any suggestion?
Thank in advance.
