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AM263P4: AM263P Motor Control - UMC - ESMO

Burak Yeniaydin
Prodigy 220 points

Part Number: AM263P4
Other Parts Discussed in Thread: LVSERVOMTR

Tool/software:

Hi,

I am using AM263P LP, BOOSTXL 3phGANINV and LVSERVOMTR (Teknic M-2310P-LN-04K). 

I want to control this motor using ESMO observer. When Motor state change with MOTOR_CL_RUNNING, Motor is rotating too fast in reverse.

angleFOC_rad was changed with anglePLL_rad. When I compare anglePLL_rad and angleGen_rad signal, I see that there is phase difference between angleGen_rad and anglePLL_rad. Is a reason reverse rotariong of motor this? 

The Parts I used ( AM263P LP (ported from AM263) , BOOSTXL 3phGANINV and LVSERVOMTR (Teknic M-2310P-LN-04K) was verified on UMC. it can't work properly for ESMO. I get it working properly with encoder.

  • 0
    Prodigy 220 points

    When I change USER_MOTOR1_STARTUP_CURRENT_A parameter from 3.5 A to 1.0 A, This problem is solved. However I can't understand it. 

    USER_MOTOR1_OVER_CURRENT_A is defined as 7.5 A. Shouldn't the Start Current be close to the overcurrent value? Doesn't the motor need more current at start?

  • 0 in reply to Burak Yeniaydin
    TI__Expert 6700 points

    Hello Burak,

    Glad you fixed the issue. USER_MOTOR1_STARTUP_CURRENT_A  is used to run the motor in open-loop when the speed is below the defined startup speed (USER_MOTOR1_SPEED_START_Hz). This parameter should be set to 10%-100% of the rated motor current depends on your application. Seems like the high startup current was overwhelming the ESMO observer, creating a phase error and backward rotation. Lowering the current can improve the estimator stability. 

    Best Regards,

    Masoud