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TMS320F2800157: How to verify Torque Control mode in F2800157

Prabhakaran CP
Prodigy 80 points
Part Number: TMS320F2800157
Other Parts Discussed in Thread: C2000WARE

Tool/software:

Hello Team,

Working on Customized PCB F2800157,Able to achieve complete performance of 48V encoder motor in dyano.

We are able to achieve Speed control mode in UMC SDK (C2000Ware_Motor-control_SDK_5_02_00_00)

But tried with torque control(Current control mode) always fails.

Could you please let me know how to check the torque control mode(Current control mode) in Latest SDK of F2800157 ?

Torque control mode(Current control mode) need to validate in the current SDK version.

Please guide us how to check the same in motor dyano setup ?

Thanks in advance

Regards

C.Prabhakaran

  • +1
    TI__Expert 4680 points

    Hi,

    Prabhakaran CP said:
    We are able to achieve Speed control mode in UMC SDK (C2000Ware_Motor-control_SDK_5_02_00_00)

    Do you mean you have successfully run level 4?

    In build level 3, only current loop is closed and output torque is given by current references.

    Thanks,

    Jiaxin

  • 0 in reply to Jiaxin Teng
    Prodigy 80 points

    Hi,

    Yes, we can run the motor at Build Level 4.

    In order to run the lab with complete FOC, Build Level 4 is required, right?

    We should not run the motor on the dyno at Build Level 3 right ?

    We need to run the motor in torque control mode at Build Level 4.

    Could you please suggest how to proceed with this on the dyno(#BL4)?

    Thanks in advance

    Regards

    C.Prabhakaran

  • 0 in reply to Prabhakaran CP
    TI__Expert 4680 points

    Hi,

    Prabhakaran CP said:
    Yes, we can run the motor at Build Level 4.

    Nice.

    For torque control mode, the speed shouldn't be controlled, meaning there shouldn't be a speed command and a speed loop. Thus, Level 4 is not for torque control mode. Level 3 is the closest implementation, but the angle used for park transformation should be changed to the actual angle of the motor but not the angle from ramp generator.

    Thanks,

    Jiaxin

  • 0 in reply to Jiaxin Teng
    Prodigy 80 points

    Hi Jiaxin,

    Thanks for your reply, I have a doubt regarding the suggestion you have given above. Can you please let me know what you mean by actual angle of the motor? By changing the angle used for park transformation to actual angle, do you mean the following?:

    However, my observation is motor does not run if angleGen_rad is replaced with angleENC_rad. Other than angleGen_rad & angleENC_rad variables are there any other variables that we need to consider? It will be of great help if you suggest how to approach for the implementation of torque control.

    Thanks in advance.

    Regards,

    C. Prabhakaran.

  • 0 in reply to Prabhakaran CP
    TI__Expert 4680 points

    Hi,

    Yes, if you have a sensor on the shaft, you should replace the generated angle "angleGen_rad" with the actual feedback angle "angleENC_rad". Since level 4 with speed feedback loop runs well, then I assume the angle feedback "angleENC_rad" value is accurate. 

    What is the startup current in user_mtr1.h "USER_MOTOR1_STARTUP_CURRENT_A" given?  

    Thanks,

    Jiaxin

  • 0 in reply to Jiaxin Teng
    Prodigy 80 points

    Hi,

    Thanks for your response. I tried replacing the generated angle "angleGen_rad" with the actual feedback angle "angleENC_rad", my observation is motor is not running in that case. Motor state is MOTOR_OL_START. USER_MOTOR1_STARTUP_CURRENT_A = 10 A. 

    Also, I'm trying to run the motor in torque mode in BL4, by surpassing the speed control loop. I'm directly assigning Idq_set_A to IdqRef_A. Can you please confirm is this the right method of approach?

    What other parameters shall be considered for the implementation of torque mode?

    Thanks in advance.

    Regards,

    C. Prabhakaran.

  • +1 in reply to Prabhakaran CP
    TI__Expert 4680 points

    Hi Prabhakaran,

    Prabhakaran CP said:
    Also, I'm trying to run the motor in torque mode in BL4, by surpassing the speed control loop. I'm directly assigning Idq_set_A to IdqRef_A. Can you please confirm is this the right method of approach?

    Yes. I think you can implement in this way as well. In torque control mode, the Iq reference is not the output of the speed control loop and need to be given according to how much torque is needed. Other than this, I didn't aware of other parameter changes need.

    Thanks,

    Jiaxin