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TMS320F2800137: Motor startup stuttering

xinkai bu
Prodigy 110 points
Part Number: TMS320F2800137
Other Parts Discussed in Thread: C2000WARE

Tool/software:

TMSTMS320F2800137, and the software engineering used C2000Ware_MotorControl_SDK_5_02/00_00 (universal-motorControl_1ab).ccs12.6.0.

Universial-motorControl_1ab_f280013x has been successfully applied on a motor and runs well.

When testing another type of motor again, it was found that the starting was not smooth and there was a stuttering phenomenon.

The waveform of the starting current is as follows:

It is obvious that the first second of startup is in a stuttering state. This state sometimes takes a long time, several seconds. 

May I ask if there are any parameter adjustments in the project that can improve or solve this situation.

  • 0
    TI__Mastermind 45416 points

    Hi,

    Did you adjust the motor parameters in the user_mtr1.h file for your new motor? Please refer to section 3.5.4 Level 4 Incremental Build and appendix section of the User's Guide for parameters to edit.

    Best,

    Kevin

  • 0 in reply to Kevin Allen18
    Prodigy 110 points

    Adjusted.USER_MOTOR1_Rs_Ohm，USER_MOTOR1_Ls_d_H，USER_MOTOR1_Ls_q_H，USER_MOTOR1_RATED_FLUX_VpHz.

    They correspond to real values and are also learned by engineering itself.

  • 0 in reply to xinkai bu
    TI__Mastermind 45416 points

    Hi,

    Ok, which control algorithm in the project are you using? Sensorless FAST, ESMO, or sensored ENC / HALL?

    Start-up parameters you can adjust are below:

    • USER_MOTOR1_ALIGN_CURRENT_A --> alignCurrent_A
      • Defines the current used to run motor rotor alignment, in A.
    • USER_MOTOR1_SPEED_START_Hz
      • This parameter defines the startup speed threshold of the motor, in Hz.
      • This parameter should be set higher than the minimum rotation speed of the motor, and typically falls
        between 10%-50% of the rated motor speed.
    • USER_MOTOR1_SPEED_FORCE_Hz --> speedForce_Hz
      • Defines the force open-loop speed threshold of the motor, in Hz.
      • This parameter should be set higher than the minimum rotation speed of the motor, and typically falls between 5%-30% of the rated motor speed.
    • USER_MOTOR1_ACCEL_START_Hzps --> accelerationStart_Hzps
      • Defines the motor acceleration during startup.
      • This parameter should be set less than the maximum acceleration of the motor (USER_MOTOR1_ACCEL_MAX_Hzps), and otherwise should be set according to system performance requirements.
    • USER_MOTOR1_STARTUP_CURRENT_A --> startCurrent_A
      • defines the current, in A, used to run the motor in closed-loop when the speed is below the defined startup speed (SPEED_START_Hz).
      • This parameter should be set to 10%-100% of the rated motor current.

    Best,

    Kevin