#ifndef _USER_J5_H_ #define _USER_J5_H_ /* --COPYRIGHT--,BSD * Copyright (c) 2012, Texas Instruments Incorporated * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * * Neither the name of Texas Instruments Incorporated nor the names of * its contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * --/COPYRIGHT--*/ //! \file solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2806xF/src/user_j5.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 //! //! //! \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 (12.0) // 24.0 Example for boostxldrv8301_revB 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 (26.314) // 26.314 boostxldrv8301_revB voltage scaling //! \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 (20.0) // 20.0 Example for boostxldrv8301_revB 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 (33.0) // 33.0 boostxldrv8301_revB current scaling //! \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 (0.831) #define I_B_offset (0.831) #define I_C_offset (0.822) //! \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 (0.261) #define V_B_offset (0.260) #define V_C_offset (0.260) //! \brief CLOCKS & TIMERS // ************************************************************************** //! \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 (45.0) //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 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 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 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 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 (2 / 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 (1.0 * USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz) // 1.0 Typical force angle start-up speed //! \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 (364.682) // 364.682, value for boostxldrv8301_revB hardware //! \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 Teknic_M2310PLN04K 104 #define Turnigy_3548_700kv 105 // 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 #define Anaheim_Salient 202 // ACIM motors #define Marathon_5K33GN2A 301 //! \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 Teknic_M2310PLN04K //#define USER_MOTOR Belt_Drive_Washer_IPM //#define USER_MOTOR Marathon_5K33GN2A //#define USER_MOTOR Anaheim_Salient #define USER_MOTOR Turnigy_3548_700kv #if (USER_MOTOR == Estun_EMJ_04APB22) // Name must match the motor #define #define USER_MOTOR_TYPE MOTOR_Type_Pm // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI) #define USER_MOTOR_NUM_POLE_PAIRS (4) // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only #define USER_MOTOR_Rr (NULL) // Induction motors only, else NULL #define USER_MOTOR_Rs (2.303403) // Identified phase to neutral resistance in a Y equivalent circuit (Ohms, float) #define USER_MOTOR_Ls_d (0.008464367) // For PM, Identified average stator inductance (Henry, float) #define USER_MOTOR_Ls_q (0.008464367) // For PM, Identified average stator inductance (Henry, float) #define USER_MOTOR_RATED_FLUX (0.38) // Identified TOTAL flux linkage between the rotor and the stator (V/Hz) #define USER_MOTOR_MAGNETIZING_CURRENT (NULL) // Induction motors only, else NULL #define USER_MOTOR_RES_EST_CURRENT (1.0) // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current #define USER_MOTOR_IND_EST_CURRENT (-1.0) // During Motor ID, maximum current (negative Amperes, float) used for Ls estimation, use just enough to enable rotation #define USER_MOTOR_MAX_CURRENT (3.82) // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller #define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0) // During Motor ID, maximum commanded speed (Hz, float), ~10% rated #elif (USER_MOTOR == Anaheim_BLY172S) #define USER_MOTOR_TYPE MOTOR_Type_Pm #define USER_MOTOR_NUM_POLE_PAIRS (4) #define USER_MOTOR_Rr (NULL) #define USER_MOTOR_Rs (0.4110007) #define USER_MOTOR_Ls_d (0.0007092811) #define USER_MOTOR_Ls_q (0.0007092811) #define USER_MOTOR_RATED_FLUX (0.03279636) #define USER_MOTOR_MAGNETIZING_CURRENT (NULL) #define USER_MOTOR_RES_EST_CURRENT (1.0) #define USER_MOTOR_IND_EST_CURRENT (-1.0) #define USER_MOTOR_MAX_CURRENT (5.0) #define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0) #elif (USER_MOTOR == Turnigy_3548_700kv) #define USER_MOTOR_TYPE MOTOR_Type_Pm #define USER_MOTOR_NUM_POLE_PAIRS (7) #define USER_MOTOR_Rr (NULL) #define USER_MOTOR_Rs (0.025) #define USER_MOTOR_Ls_d (0.000009) #define USER_MOTOR_Ls_q (0.000009) #define USER_MOTOR_RATED_FLUX (0.049) #define USER_MOTOR_MAGNETIZING_CURRENT (NULL) #define USER_MOTOR_RES_EST_CURRENT (1.0) #define USER_MOTOR_IND_EST_CURRENT (-1.0) #define USER_MOTOR_MAX_CURRENT (14.0) #define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0) #elif (USER_MOTOR == Anaheim_Salient) // When using IPD_HFI, set decimation to 1 and PWM to 15.0 KHz #define USER_MOTOR_TYPE MOTOR_Type_Pm #define USER_MOTOR_NUM_POLE_PAIRS (4) #define USER_MOTOR_Rr (NULL) #define USER_MOTOR_Rs (0.1215855) #define USER_MOTOR_Ls_d (0.0002298828) #define USER_MOTOR_Ls_q (0.0002298828) #define USER_MOTOR_RATED_FLUX (0.04821308) #define USER_MOTOR_MAGNETIZING_CURRENT (NULL) #define USER_MOTOR_RES_EST_CURRENT (2.0) // Enter amperes(float) #define USER_MOTOR_IND_EST_CURRENT (-0.5) // Enter negative amperes(float) #define USER_MOTOR_MAX_CURRENT (10.0) #define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0) #define IPD_HFI_EXC_FREQ_HZ (750.0) // excitation frequency, Hz #define IPD_HFI_LP_SPD_FILT_HZ (35.0) // lowpass filter cutoff frequency, Hz #define IPD_HFI_HP_IQ_FILT_HZ (100.0) // highpass filter cutoff frequency, Hz #define IPD_HFI_KSPD (15.0) // the speed gain value #define IPD_HFI_EXC_MAG_COARSE_PU (0.13) // coarse IPD excitation magnitude, pu #define IPD_HFI_EXC_MAG_FINE_PU (0.12) // fine IPD excitation magnitude, pu #define IPD_HFI_EXC_TIME_COARSE_S (0.5) // coarse wait time, sec max 0.64 #define IPD_HFI_EXC_TIME_FINE_S (0.5) // fine wait time, sec max 0.4 #define AFSEL_FREQ_HIGH_PU (_IQ(15.0 / USER_IQ_FULL_SCALE_FREQ_Hz)) #define AFSEL_FREQ_LOW_PU (_IQ(10.0 / USER_IQ_FULL_SCALE_FREQ_Hz)) #define AFSEL_IQ_SLOPE_EST (_IQ((float)(1.0/0.1/USER_ISR_FREQ_Hz))) #define AFSEL_IQ_SLOPE_HFI (_IQ((float)(1.0/10.0/USER_ISR_FREQ_Hz))) #define AFSEL_IQ_SLOPE_THROTTLE_DWN (_IQ((float)(1.0/0.05/USER_ISR_FREQ_Hz))) #define AFSEL_MAX_IQ_REF_EST (_IQ(0.6)) #define AFSEL_MAX_IQ_REF_HFI (_IQ(0.6)) #elif (USER_MOTOR == Teknic_M2310PLN04K) #define USER_MOTOR_TYPE MOTOR_Type_Pm #define USER_MOTOR_NUM_POLE_PAIRS (4) #define USER_MOTOR_Rr (NULL) #define USER_MOTOR_Rs (0.3918252) #define USER_MOTOR_Ls_d (0.00023495) #define USER_MOTOR_Ls_q (0.00023495) #define USER_MOTOR_RATED_FLUX (0.03955824) #define USER_MOTOR_MAGNETIZING_CURRENT (NULL) #define USER_MOTOR_RES_EST_CURRENT (1.0) #define USER_MOTOR_IND_EST_CURRENT (-0.5) #define USER_MOTOR_MAX_CURRENT (7.0) #define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0) #elif (USER_MOTOR == Belt_Drive_Washer_IPM) #define USER_MOTOR_TYPE MOTOR_Type_Pm #define USER_MOTOR_NUM_POLE_PAIRS (4) #define USER_MOTOR_Rr (NULL) #define USER_MOTOR_Rs (2.832002) #define USER_MOTOR_Ls_d (0.0115) #define USER_MOTOR_Ls_q (0.0135) #define USER_MOTOR_RATED_FLUX (0.5022156) #define USER_MOTOR_MAGNETIZING_CURRENT (NULL) #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_FLUX_EST_FREQ_Hz (20.0) #elif (USER_MOTOR == Marathon_5K33GN2A) // Name must match the motor #define #define USER_MOTOR_TYPE MOTOR_Type_Induction // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI) #define USER_MOTOR_NUM_POLE_PAIRS (2) // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only #define USER_MOTOR_Rr (5.508003) // Identified phase to neutral in a Y equivalent circuit (Ohms, float) #define USER_MOTOR_Rs (10.71121) // Identified phase to neutral in a Y equivalent circuit (Ohms, float) #define USER_MOTOR_Ls_d (0.05296588) // For Induction, Identified average stator inductance (Henry, float) #define USER_MOTOR_Ls_q (0.05296588) // For Induction, Identified average stator inductance (Henry, float) #define USER_MOTOR_RATED_FLUX (0.8165*220.0/60.0) // sqrt(2/3)* Rated V (line-line) / Rated Freq (Hz) #define USER_MOTOR_MAGNETIZING_CURRENT (1.378) // Identified magnetizing current for induction motors, else NULL #define USER_MOTOR_RES_EST_CURRENT (0.5) // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current #define USER_MOTOR_IND_EST_CURRENT (NULL) // not used for induction #define USER_MOTOR_MAX_CURRENT (2.0) // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller #define USER_MOTOR_FLUX_EST_FREQ_Hz (5.0) // During Motor ID, maximum commanded speed (Hz, float). Should always use 5 Hz for Induction. #else #error No motor type specified #endif #ifdef __cplusplus } #endif // extern "C" //@} // ingroup #endif // end of _USER_J5_H_ definition