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TMS320F28388D: Position and velocity control loops implementation

nama naresh
Prodigy 140 points
Part Number: TMS320F28388D
Other Parts Discussed in Thread: TMDSCNCD28388D, TMDXIDDK379D

I am using the control card of TMDSCNCD28388D. I am planning to implement PID control loops which are position control loop with position feedback and velocity control loop with velocity feedback, here we are using a ABB servo drive and servo motors with resolver feedback. Resolver feedback from servo motor is fed in to the servo drive to generate Quadrature encoder pulses by using this velocity feedback can be generated. In this servo drive operates in Torque mode. Position and velocity loops will be implemented in Control card by taking position and velocity feedbacks from outside in to control card. I have gone through the Digital Control Library there are so many control algorithms like PID, PI, NLPID, NLPI, DF11,DF13, DF22, DF23, but as per the DCL user guide only PID running on FPU64 can only run in F28388D but what about other control algorithms, Can additional controllers be effectively operated alongside the F28388D?, if it is yes please suggest me how to run other controllers in F28388D. Please suggest me to implement position loop (PID) and velocity loop (PI) in cascaded fashion to generate torque input to servo drive.

  • 0
    TI__Expert 4680 points

    Hi Nama,

    You can refer to the example project in the Motor Control SDK -> solutions -> tmdxiddk379d -> f2838x. Build level 5 implements position loop, speed loop, and current loop. For this example, DCL is not used, but it utilizes the PI blocks in libraries/utilities/math_blocks for the position loop, and the PID function in the same library for the speed loop. You may consider to use the same PID block for your position loop instead of DCL. If you still want to use DCL, you may need to follow the DCL user's guide.

    Thanks,

    Jiaxin

  • 0 in reply to Jiaxin Teng
    Prodigy 140 points

    Hi Jiaxin,

    Thanks for your valuable suggestion and response. We have ABB servo motor of Model No:BSM90N-375DA and ABB Servo drive Model No: MFE180-04AN-046A-4, Hengstler make absolute single turn SSI (Serial Synchronous Interface) encoder of 22 bit. Encoder Data reading using TMDSCNCD28388D completed , this data is used to close position feedback, QEP (quadrature encoder pulse) is used to get velocity information of motor and with this velocity loop is closed. Now task is to implement Position loop PID and velocity loop PID to generate Torque command to servo drive.

    Presently I do not have tmdxiddk379d hardware, I have only TMDSCNCD28388D hardware, with available hardware I want to Implement Position and Velocity loops in TMDSCNCD28388D. Please suggest or guide me to implement control loops using DCL or any other alternative method.

    Thanks,

    Nama 

  • 0 in reply to nama naresh
    TI__Expert 4680 points

    Hi Nama,

    You may not need the tmdxiddk379d hardware. You can refer to the API functions used for PID control in that example, include them to your project and call them.

    Thanks,

    Jiaxin