LAUNCHXL-F28069M: Motor Controller Programming

It's difficult to provide an example to a customer for their own board. The customer may follow the steps below to migrate the example labs to their own board and verify the current and voltage signals of the hardware board before run the InsatSPIN labs.

Please follow the steps to change the example labs and verify the current and voltage signals of the hardware board before run the lab02a/b/c since you are using your own board. Make sure that the current and voltage sampling works well.

1. Change the PWM and ADC configuration in hal.c refer to the guide, motorware_hal_tutorial.pdf.

C:\ti\motorware\motorware_1_01_00_18\docs\tutorials

2. Set correct parameters based on the hardware board in user.h

#define USER_IQ_FULL_SCALE_VOLTAGE_V           (xx)

#define USER_VOLTAGE_FILTER_POLE_Hz               (xx)

#define USER_ADC_FULL_SCALE_VOLTAGE_V       (xx)

#define USER_IQ_FULL_SCALE_CURRENT_A           (xx)

#define USER_ADC_FULL_SCALE_CURRENT_A       (xx)

3. make sure that the sign of the current coefficient in HAL_readAdcData() in hal.h matches the current sensing circuit. Refer to chapter 5.2.2 Current Feedback Polarity in InstaSPIN user's guide (SPRUHJ1, https://www.ti.com/lit/spruhj1) to set the sign of the current scale factor.

static inline void HAL_readAdcData(HAL_Handle handle,HAL_AdcData_t *pAdcData)

{

   _iq current_sf = (+/-)HAL_getCurrentScaleFactor(handle);

}

4. Follow the instaSPIN lab guide to use lab01b and lab01c to verify your own hardware since you are not using the TI EVM kits and then run the subsequent labs.

5. Using the lab02b or lab02c and tuning the identification variables parameter below to identify the motor parameters, and use the identified parameters to run the motor if the current and voltage sensing signals are verified and good.

#define USER_MOTOR_RES_EST_CURRENT      (1.0)                               // A -  10-30% of rated current of the motor

#define USER_MOTOR_IND_EST_CURRENT      (-1.0)                             // A -  10-30% of rated current of the motor,  just enough to enable rotation

#define USER_MOTOR_MAX_CURRENT            (5.0)                               // A -  30~150%  of rated current of the motor

#define USER_MOTOR_FLUX_EST_FREQ_Hz     (40.0)                            // Hz - 10~30% rated frequency of the motor