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Original question:

DRV8301-69M-KIT: InstaSPIN FOC 11e motor control with hall not working correctly

DRV8301-69M-KIT: Sensored operation with Torque control mode - previous thread unclear as to lab 11e support

Steven Shenker
Intellectual 800 points
Part Number: DRV8301-69M-KIT
Other Parts Discussed in Thread: C2000WARE-MOTORCONTROL-SDK, C2000WARE, DRV8323, MOTORWARE

Hi there, I have a question related to this older thread.

Yanming mentioned that lab 11e does not support Torque control mode yet has recommend commenting out a variable to enable torque control mode? 

If we set the value of Idq_ref_pu.value[1] directly does this mean we can set a torque command both in sensored operation as well as after we have transitioned to sensorless operation? 

Thanks in advance for your help.

  • 0
    TI__Guru** 109820 points

    The lab11e can support the torque mode with hall sensor, but we didn't test this since the transition from hall to InstaSPIN-FOC could be a problem in this case. You may try to start the motor with speed loop mode with hall sensor, and switch to torque mode with InstaSPIN-FOC.

  • 0 in reply to Yanming Luo
    Intellectual 800 points

    Thanks for your quick reply Yanming. 

    Our application is for an e-bike and I am surprised that TI does not have a working example for (Hall Sensored) slow speed startup in torque mode which I would assume to be a relatively widespread application. Is there no existing TI solution for this or is there a plan for this in future?

    Thanks again,  

  • 0 in reply to Steven Shenker
    TI__Guru** 109820 points

    Lab11e could be a reference using hall sensor for startup, but it still needs improvement and customization for an e-bike application.

    You may refer to the lab for the C2000 devices in motor control SDK. The universal motor control lab is available in the current MCSDK, which can support a set of hardware kits and control algorithms for BLDC/PMSM drive. The kits include LAUNCHXL-F280025C, LAUNCHXL-F280039C,  LAUNCHXL-F2800137 with DRV8316REVM inverter board for low voltage motor.  The control algorithms include sensorless InstaSPIN-FOC with FAST, Sensorless-FOC with eSMO, Sensored-FOC with incremental encoder, Sensored-FOC with hall sensor.  You can refer to the device peripherals (ePWM, ADC, eQEP, or eCAP) configuration for motor control with the other C2000 devices including F2838x.

    C2000WARE-MOTORCONTROL-SDK: https://www.ti.com/tool/C2000WARE-MOTORCONTROL-SDK

    Universal Project and Lab User’s Guide: https://www.ti.com/lit/spruj26

    Example lab project at the folder: C:\ti\c2000\C2000Ware_MotorControl_SDK_<version>\solutions\universal_motorcontrol_lab\f28002x

    or                                                         C:\ti\c2000\C2000Ware_MotorControl_SDK_<version>\solutions\universal_motorcontrol_lab\f28003x

    or                                                         C:\ti\c2000\C2000Ware_MotorControl_SDK_<version>\solutions\universal_motorcontrol_lab\f280013x

  • 0 in reply to Yanming Luo
    Intellectual 800 points

    Hi Yanming,

    Thank you for your response, we have purchased the F280025 and DRV8323 booster board to test this out.

    I see the PDF does mention "Sensored-FOC with hall sensor"

    I just wanted to confirm that the above works in Speed mode as well as Torque Control mode with MotorControlSDK, unlike  the issue with Motorware?

  • 0 in reply to Steven Shenker
    TI__Guru** 109820 points

    Ideally, yes. All of the FOC mode can support both speed and torque control mode. You may need to tune the current PI controllers for the torque mode.

  • 0 in reply to Yanming Luo
    Intellectual 800 points

    To confirm, we decided to try MotorControlSDK to get around the issue of MOTORWARE incomplete lab11e (slow speed start in torque mode - SENSORED), will this fix this issue? 

  • 0 in reply to Steven Shenker
    TI__Guru** 109820 points

    I can just say this lab has some improvement, but it's still a reference design. You may need to make some changes and tune the parameters according to your applications.