Tool/software:
Hello,
I am using TMS320F280049C in a code based on the InstaSPIN-FOC lab is13_fwc_mtpa.
When the following lines of code are reached to disable the PWMs and the FAST estimator, the speed returned from EST_getFm_lp_Hz(estHandle) is sometimes non-zero and can lead to reporting a non-zero speed (it does not update while estimator is disabled) when the motor is not turning/PWMs are off. This occurs about 10% of the time with an unloaded motor when stopping from various speeds.
else if(motorVars.flagEnableOffsetCalc == false){
EST_disable(estHandle);// disable the estimator
EST_disableTraj(estHandle);// disable the trajectory generator
HAL_disablePWM(halHandle);// disable the PWM
One example data point is where EST_getFm_lp_Hz(estHandle) returned 1.13 Hz, while EST_getFm_Hz(estHandle) returned 20.128 Hz and these values remained after EST_disable(estHandle). The much lower low pass filtered speed shows that the recorded speeds previously were much lower than the 20.128 Hz that is most recent.
1. Is there a solution for this issue where the estimator does not return this erroneous speed value during shut off?
2. I have noticed that there is a EST_setIdle() command that is no longer used in labs and is in some places replaced with EST_disable(). What is the difference between these functions and when should EST_setIdle() be used?
3. EST_computeTorque_Nm(estHandle) does update its output when the estimator is disabled. Is there a way to have EST_getFm_lp_Hz(estHandle) update its value while the estimator is disabled?
Thank you.
