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TMS320F28069M: problems using "InstaSPIN Projects and Labs User’s Guide" examples.

Benjamin Højgaard
Prodigy 10 points
Part Number: TMS320F28069M
Other Parts Discussed in Thread: DRV8305, MOTORWARE

Hi,

I'm doing a project trying to control a PMSM multipol motor using the LaunchPadXL (TMS320F28069M) with DRV8305 driver platform.

I will try to use the sensorless feature -but also have the possibility to test the sensored function afterwards. The driver should be quite simple  -  velocity driven.

Question.

is it correct understood that 28069M only can operate with examples using motion (LAB 5(x), 6(x),10b, 12(x) ?

I have found the inertia in 5c, but the velocity cannot be changed  in 5d. I can see that the gMotorVars.SpeedTraj_krpm is changing when I change gMotorVars.SpeedRef_krpm, but the commutation frequency is steady.

the speed feedback seems to work (regulates). when I turn down the gMotorVars.SpeedRef_krpm below 0.1 the motor stoppes, and cannot be activated again.

I can see that to current is increacing if I put a load on the motor so the regulation seems to work.

How do I ensure that the Velocity handel is routed to the FAST estimator?

Best regards Benjamin


 

  

  • 0
    TI__Guru** 112170 points
    Benjamin Højgaard said:
    is it correct understood that 28069M only can operate with examples using motion (LAB 5(x), 6(x),10b, 12(x) ?

    Lab05b or lab10a is better for your requirement with speed closed-loop. Or lab10d for dual motor with speed-close loop.

    Benjamin Højgaard said:
    the speed feedback seems to work (regulates). when I turn down the gMotorVars.SpeedRef_krpm below 0.1 the motor stoppes, and cannot be activated again.

    If you need to run the motor at very low speed, it's better to use the sensored-FOC as lab12c for dual motor control.

    Benjamin Højgaard said:
    How do I ensure that the Velocity handel is routed to the FAST estimator?

    The feedback speed of the motor is estimated by the FAST estimator or measured by the sensor, and then the FOC will us a PI regulator to implement the speed closed-loop.

    If you haven't had a chance to look at the workshop material, I think this will help demystify some of the terminology and architecture as well.

    https://training.ti.com/c2000-motorcontrol-training-series

  • 0 in reply to Yanming Luo
    Prodigy 10 points

    Thanks for your answers, I wil look at the c2000 control page 

    The LAB 5b is used for 28069F, I have the LaunchPadXL  so I cannot run 5b.

    I have found the inertia in 5c,and prepared it for the next exercise  -  but the velocity cannot be changed  in 5d.

    I can see that the gMotorVars.SpeedTraj_krpm is changing when I change gMotorVars.SpeedRef_krpm, but the commutation frequency is steady on my motor.

    When the reference handles is updated in proj_lab05d.c the resulting value is passed to the  STVELCTL_getTorqueReference function!

    Should that not  be the STVELCTL_getVelocityReference function?   

    I believe that iqReference(in code) == USER_Iqref (in the Lab guide picture  page 122)?

    (Snip from Lab5d.c)

    line 595

    // Run the SpinTAC Controller
    // Note that the library internal ramp generator is used to set the speed reference
    STVELCTL_setVelocityReference(stObj->velCtlHandle, TRAJ_getIntValue(ctrlObj->trajHandle_spd));
    STVELCTL_setAccelerationReference(stObj->velCtlHandle, _IQ(0.0)); // Internal ramp generator does not provide Acceleration Reference
    STVELCTL_setVelocityFeedback(stObj->velCtlHandle, speedFeedback);
    STVELCTL_run(stObj->velCtlHandle);

    // select SpinTAC Velocity Controller
    iqReference = STVELCTL_getTorqueReference(stObj->velCtlHandle);

    How can I force the velocity to change?

  • 0 in reply to Benjamin Højgaard
    TI__Guru** 112170 points
    Benjamin Højgaard said:
    The LAB 5b is used for 28069F, I have the LaunchPadXL  so I cannot run 5b.

    All of the InstaSPIN-FOC labs can be for both F28069F and F28069M. Only F28069M supports InstaSPIN-Motion.

    Benjamin Højgaard said:
    How can I force the velocity to change?

    Please take a look at the InstaSPIN lab user's guide to use the right labs if you only need velocity control. The guide has the detailed instructions to set/change the speed.

    C:\ti\motorware\motorware_1_01_00_18\docs\labs\instaspin_labs.pdf