Other Parts Discussed in Thread: LAUNCHXL-F28069M, BOOSTXL-DRV8301
Hi,
I use the LAUNCHXL-F28069M Evaluation board and BOOSTXL-DRV8301 motor driver to run the low inertia PMSM motor (6A continuous current, 10A pick current) - the power supply can give up to 10A.
I tested the InstaSpin_Lab2a, Lab2c, Lab 3a, Lab4, and Lab5 before conducting the torque control.
My system is that the small bar is mounted on the motor and the bar pushes the loadcell.
When the bar hits the loadcell(velocity is zero), it does not keep pushing the loadcell anymore and the bar moves back and forth.
If I increase the "gMotorVars.IqRef_A" value from 0.1 to 1.0, the frequency of the oscillation(moving back and forth) also increases.
I turned off the "forced angle" function and the amplitude decreased but still have the oscillation.
+) I changed the Kp and Ki values but it does not affect them.
I would like to make the motor keep generating the continuous torque while it cannot move from the external load. Did I miss something for this or do I need to use the encoder for resolving this issue?
Thank you!
