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Original question:

Load code into Flash F2803 for DRV830x-hc-c2-kit

TMS320F28030: TMS320F28030

Links
Expert 5935 points
Part Number: TMS320F28030
Hello, TI's engineers!
I am debugging the HVPM_Enhanced_Sensorless_2803x project . I have encountered some problems in debugging process and hope to get your help.
Q1: I have read the DOC documentation for the HVPM_Enhanced_Sensorless_2803x project, however, I can not understand the correct experimental phenomena for BUILD LEVEL 8 very well.
This is my understanding：After the variable lsw being set to 1, if I rotate the motor rotor, the variable hfi1.thetaEst will be changed with the position of the rotor, and a triangle wave should be output like the wave shown by position sensor of the motor.
However, when I rotated the motor rotor, the variable hfi1.thetaEst only fluctuated slightly, and would not change with the change of the motor rotor.
Is this a correct experimental phenomenon or my HFI parameter is not adjusted properly? If I am wrong, what is the correct experimental phenomenon?



Q2: If my HFI parameters are not adjusted  properly, which parameters are supposed to adjust and how to adjust them?
The motor parameters：Motor_Poles=3，Motor_Rs=0.015Ω，Motor_Ld=0.000313H, Motor_Lq=0.000756H, Vdc=24V.
My program parameters are shown as follows:
#define VOLT_PU(A) _IQ( A/(sqrt(3)*BASE_VOLTAGE) )   // (sqrt(3)*BASE_VOLTAGE)=24V
#define HFI_VOLT_RUN 3.0 /* Max duty cycle below this Vdc (in V) @run */
#define HFI_VOLT_IPD 4.0/* Max duty Cycle below this Vdc (in V) @ipd */
// HFI magnitude (duty cycle) parameters
Hfi1. Kp_IPD = _IQ (8.0);
Hfi1. Kp_RUN = _IQ (20.0);
hfi1.base_wTs = _IQ(200*T);
hfi1.Ts = _IQ(T);
Hfi1. DutyMax = _IQ (0.65);
hfi1.volt_ipd = VOLT_PU(HFI_VOLT_IPD);
hfi1.volt_run = VOLT_PU(HFI_VOLT_RUN);
// HFI frequency (timing) parameters
hfi1.Squ_PRD_set = 1; /* 16 IPD // 8 low speed for Bosch // 1 for E-bike */
hfi1.HFI_Time1 = 300; / / 400
hfi1.HFI_Time2 = 400; / / 450
// Initialize HPF parameters
Hpf_coeff1. Freq = _IQ (18.0);
hpf_coeff1.PiT = _IQ(PI*T);
HPF_INIT(&hpf_coeff1);
// Initialize NS determination parameters
ns_id1.cntON     = 1;       // number of ON pulses within cntPRD below
ns_id1.cntPRD    = 30;      // pulse period per switching state
ns_id1.PWM_ch[0] = 1;       // epwm1
ns_id1.PWM_ch[1] = 2;       // epwm2
ns_id1.PWM_ch[2] = 3;       // epwm3
ns_id1.PWM_PeriodMax = pwm_state.PeriodMax;
Enclose some of the documents I have read.
Looking forward to your reply!
  • 0
    TI__Guru** 114160 points
    Links said:
    After the variable lsw being set to 1, if I rotate the motor rotor, the variable hfi1.thetaEst will be changed with the position of the rotor, and a triangle wave should be output like the wave shown by position sensor of the motor.

    What do you mean this? How did you rotate the motor rotor?

    Links said:
    Q2: If my HFI parameters are not adjusted  properly, which parameters are supposed to adjust and how to adjust them?

    No specific rules for this. You have to tune these parameters according to the testing result.

  • 0 in reply to Yanming Luo
    TI__Expert 5935 points

    Hi

    I mean: I don't know the correct experimental phenomenon about BUILD LEVEL 8，and and how should I do it at BUILD LEVEL 8.
    If my parameters are correct, uq=0, ud =u_hfi, then I turn the motor rotor by hand,
    if the variable hfi1.thetaest will change with the rotor position as the output of the position sensor?
    Best Regards,
    William
  • 0 in reply to Links
    TI__Mastermind 27240 points

    yes, thetaEst should vary when shaft is turned with hand.