Servo / Position control for PMSM

Joe,

This never got wrapped up, but I know it's on the to do list for the engineer this year. Let me pass along and see if they can update a better timing.

-Chris

Joe,

This work is part completed. One (hopefully minor) issue is still to be resolved with the final build level. I regret I can't give you a firm date yet, but the aim is to complete this in the next couple of months. In case it helps, there are two legacy PMSM position control projects available here...

http://focus.ti.com/docs/toolsw/folders/print/sprc179.html

http://focus.ti.com/docs/toolsw/folders/print/sprc212.html

Best regards,

Richard

Any updates on the availability of PMSM position control projects. ControlSuite is populated with speed control applications.

The available position control projects Richard pointed out above are very similar to sensored PMSM project in controlsuite.

You might consider modifying PM Sensored project looking at the manuals of sprc179 or sprc212.

Unfortunately the position control update in controlsuite is not among the highest priority items at the moment.

Regards

Bill

Hi, 

I try to implement position control on F28335.

Coild you give me some advice?

Did you have source and document about sensored position controll of 3-phase PMSM using QEP for F28335?

Regards,

Jimmy

I`ve implemented changes to HVPM_sensored project on TMDSHVMTRPFCKIT and HVPMSMMTR, according sprc179/sprc212.
I purged speed_fr macro and added loop from Mechtheta to Iqref via P regulator (Kp is big, around 20 as in example) with constant PositionRef.
Project works, but not all the time.
After power on system is always stable, after pressing on PMSM shaft I have 2 cases (cannot find out why these two cases are present)
1) System stable and resist my pressure in both sides. P position regulator produce right calculations, Positionref=MechTheta. This is right behavior.
2) After little pressure, P Position regulator output reach Umax or Umin, system begin to oscillate around EQep1Regs.QPOSCNT=0, no position control possible.

Does smb have any ideas where to look for mistake?

Hi Bill,

Is there any update on the availability of position control or servo applications in the controlSUITE?

Thanks,
Tamil

There is an example in the HVKIT

C:\ti\controlSUITE\development_kits\HVMotorCtrl+PfcKit_v2.0\HVPM_Sensored_Servo

Thanks for your reply Chris!

I did find that project. I am using the DRV8312-C2-KIT with F28035 Piccolo controlCARD. I would like to port the project to the DRV8312-C2-KIT. I have a small 24V PMSM motor with encoder (only Chanel A&B, no Index). I see that both kits are based on the F2803x microcontrollers. What changes should I be making in the code for it to work properly, apart from changing the motor parameters? I would like to build it only up to level 5, since I do not have a external resolver.

Any help/suggestion would be much appreciated.

Thanks,
Tamil

you'll have to change mapping for the PWM, ADC, and the GPIO used with the DRV (and probably items like the TZ used on HV that aren't used on DRV).

you'll have to change scaling of all the ADC inputs to the HW reference of the DRV

you'll have to double check the encoder signals, these vary so much.

all of the core control code should be no changes.

Hi,

I made the changes that you recommended and tried to run the motor, but was unsuccessful. I was successful till build level 2, but ended up getting a fault every time I try to enable the motor in build level 3. Even in build level 2 when the motor was running, the current waveforms did not look okay. I have attached my code here. Can you guess what could have gone wrong and what I might have to do to fix it?

Thanks for the help.

-Tamil

Attached code: 7612.HVPM_Sensored_Servo.zip