TMS320F280039C: eSMO issue

Hi Jiahui,

What speed is the motor running at? The eSMO utilizes the estimated back EMF for angle reconstruction and may be inaccurate for low speed operation. 

Thanks,

Jiaxin

Hi Jiaxin,

   It was past expressed this forum eSMO (sliding mode observer) when selected and build enabled replaces the fast estimator slow speed observer <1Hz (open loop) only. Seemingly both Fast and eSMO enable symbols must be build present and (Fast with eSMO) selected via LAB script debug monitor for FOC start up, using slow speed observer built into Fast Estimator library calls.

  To select sliding mode observer motor startup (open loop), select eSMO source via LAB script drop down dialog to override the original slow speed observer library calls. Then Fast Estimator calculates angle (closed loop) for FOC sensorless run code. The hardest part of motor startup is determining the rotor direction (open loop) to get it spinning well prior to entering closed loop with current control priority.

The Universal motor control open loop startup will not work correctly if ESMO symbol (enabled) is not first added General Symbol tab. Seemingly code motor1_drive.c linear progression loads both startup modes parameters very same function call for both slow speed (open loop) observers.

Below, code the trajectory being set by MOTOR1_ESMO for both slow speed observers.

            #if defined(MOTOR1_FAST)
            //***********************************************************
            // enable or disable force angle
            EST_setFlag_enableForceAngle(obj->estHandle,
                                         obj->flagEnableForceAngle);

            EST_setFlag_enableRsRecalc(obj->estHandle,
                                       obj->flagEnableRsRecalc);
            #endif  // MOTOR1_FAST

            #if defined(MOTOR1_ESMO)
            //************************************************************
            if(obj->motorState >= MOTOR_CL_RUNNING)
            {
                TRAJ_setTargetValue(obj->trajHandle_spd, obj->speedRef_Hz);
            }
            else
            {
                TRAJ_setTargetValue(obj->trajHandle_spd,
                                    (obj->speedForce_Hz * obj->direction));
            }

#if defined(MOTOR1_FAST) && defined(MOTOR1_ESMO)    //WAS && (OK<->OK)
    // sensorless-FOC
    MATH_Vec2 phasor;

    ANGLE_GEN_run(obj->angleGenHandle, obj->speed_int_Hz);
    obj->angleGen_rad = ANGLE_GEN_getAngle(obj->angleGenHandle);


// run the eSMO
    ESMO_setSpeedRef(obj->esmoHandle, obj->speed_int_Hz);
    ESMO_run(obj->esmoHandle, obj->adcData.VdcBus_V,
                    &(obj->pwmData.Vabc_pu), &(obj->estInputData.Iab_A));

    obj->angleComp_rad = obj->speedPLL_Hz * obj->angleDelayed_sf;
    obj->anglePLL_rad = MATH_incrAngle(ESMO_getAnglePLL(obj->esmoHandle), obj->angleComp_rad);

    SPDFR_run(obj->spdfrHandle, obj->anglePLL_rad);
    obj->speedPLL_Hz = SPDFR_getSpeedHz(obj->spdfrHandle);

    obj->speedFilter_Hz = obj->speedFilter_Hz *0.875f + obj->speed_Hz * 0.125f;
    obj->speedAbs_Hz = fabsf(obj->speedFilter_Hz);

    // Running state
    if(obj->estimatorMode == ESTIMATOR_MODE_FAST)
    {
        obj->speed_Hz = obj->speedEST_Hz;

        if(obj->motorState >= MOTOR_CTRL_RUN)
        {
            obj->angleFOC_rad = obj->angleEST_rad;

            ESMO_updateKslide(obj->esmoHandle);
        }
        else if(obj->motorState == MOTOR_CL_RUNNING)
        {
            obj->angleFOC_rad = obj->angleEST_rad;
            ESMO_setAnglePu(obj->esmoHandle, obj->angleFOC_rad);
        }
        else if(obj->motorState == MOTOR_OL_START)
        {
            obj->angleFOC_rad = obj->angleEST_rad;
            obj->motorState = MOTOR_CL_RUNNING;

            ESMO_setAnglePu(obj->esmoHandle, obj->angleFOC_rad);
        }
        else if(obj->motorState == MOTOR_ALIGNMENT)
        {
            obj->angleFOC_rad = 0.0f;
            obj->enableSpeedCtrl = false;

            obj->stateRunTimeCnt++;

            obj->IsRef_A = 0.0f;
            obj->Idq_out_A.value[0] = obj->alignCurrent_A;
            obj->Idq_out_A.value[1] = 0.0f;

            TRAJ_setIntValue(obj->trajHandle_spd, 0.0f);
            EST_setAngle_rad(obj->estHandle, obj->angleFOC_rad);
            ESMO_setAnglePu(obj->esmoHandle, obj->angleFOC_rad);

            if((obj->stateRunTimeCnt > obj->alignTimeDelay) ||
                     (obj->flagEnableAlignment == false))
            {
                obj->stateRunTimeCnt = 0;
                obj->motorState = MOTOR_OL_START;

                obj->Idq_out_A.value[0] = obj->fluxCurrent_A;
                PI_setUi(obj->piHandle_spd, 0.0);
            }
        }
        else if(obj->motorState == MOTOR_SEEK_POS)
        {