Other Parts Discussed in Thread: DRV8301
I would like to get maximum torque on low speed & high speed sensored motor control, on LAB 13b I'm able to do the position control and speed control very well, but seem that current loop not working properly to get maximum torque from motor ( right now about half of the max amp), I just changed the USER_IQ_FULL_SCALE_FREQ_Hz based on RPM and poles and know the INSTA-motion will tune the current loop based on gain that I selected.
Here are my motor parameters, please guide do I need back to torque control lab5a and tune that for position control or need to do something else
#elif (USER_MOTOR == my_motor )
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (4)
#define USER_MOTOR_Rr (NULL)
#define USER_MOTOR_Rs (0.370501846)
#define USER_MOTOR_Ls_d (0.000191118175)
#define USER_MOTOR_Ls_q (0.000191118175)
#define USER_MOTOR_RATED_FLUX (0.0390321501)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL)
#define USER_MOTOR_RES_EST_CURRENT (1.0)
#define USER_MOTOR_IND_EST_CURRENT (-0.5)
#define USER_MOTOR_MAX_CURRENT (7.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0)
#define USER_MOTOR_ENCODER_LINES (1024.0)
#define USER_MOTOR_MAX_SPEED_KRPM (3.0)
#define USER_SYSTEM_INERTIA (0.04919219017)
#define USER_SYSTEM_FRICTION (1.333652735)
Do I need to recalculate the USER_IQ_FULL_SCALE_CURRENT_A & USER_ADC_FULL_SCALE_CURRENT_A ? or leaved as is for drv8301_revd current scaling?
