TMDSHVMTRINSPIN: Universal Motor Control Lab in Build-4 How To Run Only Esmo mode using TMDSHVMTRINSPIN Kit

Hi,

To run only the eSMO speed estimator, you just need to make the predefined symbol "MOTOR1_ESMO" active and other speed estimation methods inactive. 

Thanks,

Jiaxin

Ya same setting we done but the motor was not rotating.but fast estimator mode it was rotating given frequency 

HI,

sir my doubt was in build-4 parameters identification using ESMO mode is it possible.build-4 using fast estimator the motor parameters identification perfect after the motor was run given frequency.but ESMO we are trying to run parameters identification and without parameter identification closed loop.

in this below pics was we run a  build-4 FAST MODE & FAST_ESMO_MODE & ESMO MODE.

                                     fast mode

                           fast__esmo__mode

                                                                    ESMO MODE

the First 2 modes was run perfect but ESMO mode was the motor was not rotating given frequency(60-Hertz).

Hi,

The variable "motorVars_M1.faultMtrNow.all" indicates you are getting some faults, please head to that part of code and check the causes. Meanwhile, you can check if eSMO gives you the correct angle estimation when both FAST and eSMO is active.

Thanks,

Jiaxin

HI

I have a small doubt using ESMO mode motor parameters identification is possible

we have to try to run ESMO mode it was running given 10-hertz of frequency but given extra frequency like 20 (OR) 30 hertz it shows over modulation fault occurs.

but in FAST mode and FAST_ESMO mode working good.

How can u verify that if ESMO gives you the correct angle estimation when both FAST and ESMO is active.?

hi

we want to test ESMO mode must and should give load for the motor or without load we have test

Hi,

Yanming recently say we have to tune eSMO settings for different motor types. Below defaults did not work with small 4 pole motor, user_est_current 0.35A. It would start open loop then stall near 125Hz closed loop and had to reset MCU after stall. I have not had chance to tune below settings, wondering what motor settings relate for tuning reference. If motor fails to spin at all in open loop it might be EMF threshold assume refers to 500mV. 

BTW: Can not run motor ID in eSMO according to MCSDK user tables must get ID in Fast mode only.

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.75f) //
#define USER_MOTOR1_KSLIDE_MIN (0.15f)

#define USER_MOTOR1_PLL_KP_MAX (6.75f) //
#define USER_MOTOR1_PLL_KP_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)

#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)

Hi,

Motor parameters identification is only available with the FAST method.

Did you run level 2 with only eSMO estimator? Please follow the universal motor lab user's guide, run motor in level 2 (open loop control) and verify the eSMO gives the correct angle estimation as what is shown in Fig 2-36.

Thanks,

Jiaxin

Hi,

Did you run level 2 with only eSMO estimator? Please follow the universal motor lab user's guide, run motor in level 2 (open loop control) and verify the eSMO gives the correct angle estimation as what is shown in Fig 2-36.

Yes,we run a build-3 with ESMO mode with given 10 hertz frequency the estimation angle waveforms below.

whenever we increase speed_Reference 20 hertz the angle estimation waveform was 

but whenever we run FAST mode+ESMO mode the angel estimation waveform was i attached below.

What we have to change in code section.

we need FAST & ESMO mode V.F.D drive implementation both(ACI & PMSM motors) purpose.

BTW: Can not run motor ID in ESMO according to M.C.S.D.K user tables must get ID in Fast mode only.

OK,We can use FAST and ESMO method but we have to run ESMO for our testing purpose.

our doubt was  using universal motor control lab code our application purpose can we use fast + estimator.

each and every motor we have tune like this

If motor angle is correct for FAST+eSMO build level 2 it well should be the very same angle in eSMO build level 4. Your posted eSMO angles seem to prove such is true. Though the settings I posted above have to be changed to match individual motor traits.

Hi,

In our code default this values was there.

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.75f) //
#define USER_MOTOR1_KSLIDE_MIN (0.15f)

#define USER_MOTOR1_PLL_KP_MAX (6.75f) //
#define USER_MOTOR1_PLL_KP_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve

#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)

how can we vary this values based on our motor settings any formula is there.we are using (1HP motor - 110Voltage, 7.5 max current,110hertz frequency 3300rpm)

I am using this values run a motor in build-4 in ESMO mode the motor was run 12 hertz frequency whenever i give more frequency it not was rotating.the speed hertz not follows.

If we want to run ESMO mode we need to give load to the motor (or) without load we can run the ESMO mode.

Hi,

From the debug screenshot you posted, looks like the eSMO speed estimator works fine with 10Hz but not with any frequencies above 10Hz. Please tune the eSMO parameters and make sure the speed estimation at your target operating frequency is as good as the 10Hz case. For tuning the eSMO parameters, you probably need to tune it manually based on your specific system.

Thanks,

Jiaxin

If we want to run ESMO mode we need to give load to the motor (or) without load we can run the ESMO mode.

Hi,

Could you have a look at this thread? 

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1108826/tidm-02010-motor-running-problem-with-esmo

It might be helpful for debugging.

Thanks,

Jiaxin 

Hi

Fast algorithm is it possible  implement in F28035 controller 

Hi,

I don't think TI has an example of FAST estimator with the F28035 controller, but it should be implementable.

Thanks,

Jiaxin

Analogics Rnd Solar said:

Fast algorithm is it possible  implement in F28035 controller

Another factor being TMU math processor has to be present in MCU for fast_full_lib.lib to work correctly. 

Hi,

Please refer to the INSTASPIN-FOC labs in the MOTORWARE if you want to use F28035, there are FAST estimator motor control examples with F2802x, which has very similar feature sets with the F28035 controller.

OK. We need to change anything in code section (or) directly dump to the F28035 controller our customization board(same ADC pins PWM was configured).

HI,

We cant find the link of fast estimator motor control examples with F2802x.

Hi,

After downloading the MOTORWARE, all the software examples are in "motorware_<version>/sw/solutions/instaspin_foc". The examples are given in the format of labs to achieve incremental builds. Thus, at the same time, it is recommended to refer to the document in "motorware_<version>/docs/labs/instaspin_labs.pdf" and run the examples.

Thanks,

Jiaxin