TMS320F280025C: TIDM-02010 Dual motor speed loop problem

Luo XiuFeng said:

Why do I need to set the phase displacement? Is it just to avoid interruption?

Yes, avoid the interrupt and ADC used by dual motor.

Luo XiuFeng said:

I tried not setting the phase shift, but the acquisition of the adc voltage will be about 5v higher than the average? why is that?

Not fully understand your question. The phase shift doesn't impact the ADC voltage.

Luo XiuFeng said:

2. As mentioned above, I only need to drive 2 motors for speed loop control, but the processing of motor 1 and motor 2 seems to be different in the code, because my motor ultimately rotates through the motor 2 channel. Motor 1 is working abnormally. Do I need to modify the logic of motor 2 to motor 1?

That depends on your application. You can user either one for dual motor or just as the example.

Hello, I noticed that the status processing of motorState seems to be different from that of the general laboratory. Is there a document explaining how the status of MOTOR_Status_e is switched and run in the program?

In the tidm_02010_dmpfc_002x example, if the status handling of MOTOR_OL_START is a bit difficult to understand:

    else if(motorVars[MTR_2].motorState == MOTOR_OL_START)
    {
        angleFOCM2_rad = angleESTM2_rad;

        if(fabsf(estInputDataM2.speed_ref_Hz) >= fabsf(motorVars[MTR_2].speedForce_Hz))
        {
            motorVars[MTR_2].motorState = MOTOR_CL_RUNNING;
        }
    }

As above, speed_ref_Hz is the expected speed closed-loop speed, speedForce_Hz is a speed defined by the macro. According to the process, motorState will first go through the MOTOR_ALIGNMENT state, and then switch to MOTOR_OL_START. During the processing of MOTOR_OL_START, it will be judged that speed_ref_Hz >= speedForce_Hz, and the transition from MOTOR_ALIGNMENT to When MOTOR_OL_START, the current on the id axis is not 0, so why wait for speed_ref_Hz >= speedForce_Hz? This will cause the motor to vibrate significantly after starting, and will it switch to closed-loop speed operation after a while?