TMDSHVMTRINSPIN with ACI and InstaSPIN-FOC

Hello again,

Many times we tried to identify the same motor, we got different values.

The last time we got higher Rr (84), lower Ls_d (0.03), and lower Flux (0.6).

Rs and Magnetic Current so far are similar.

Does it make sense? So actually which values we should put in user.h?

Thanks for helping.

Best regards,

Maria

Maria,

#1, we know we have some ACI Motor ID issues with the existing release of MotorWare. We are well aware of major problems identifying high current motors (the gains during ID are too stiff and we lose control of the motor).  We are working to fix this later this year (November release earliest).

#2, your results are very surprising considering this is the Marathon/GE motor that we have tested with.  I want to look at this myself and try to duplicate the issue.  Your values are certainly incorrect, 54 ohm of Rr is not right and the fact that the results are not consistent is worrisome.

Let us do some work...

Maria,

I'm running the GE 5K33GN2A off AC power (producing a 172V bus).

My ID settings are similar to yours and results turned out well.

However, when I go to run the motor I'm not happy with the performance.  It feels like the magnetizing current doesn't build.  I want to look at the speed controller, but I think there may be somethign wrong with the GUI project.

I went to MotorWare and ran lab 2a. I got similar ID parameters and the performance now looks very good.

I ran motor ID a few times using lab 2a and while it's genearlly consistent, there is more variance than I would expect.

BTW - here is a sneak peak at the Universal GUI I'm working on. This will work with any MotorWare project to let you more easily instrument (replace the Expressions Window).

Hello Chris, thank you for the reply!

#1. How can you get 172V, do you use external power for DC bus?

#2. I don't use PFC in TMDSHVMTRINSPIN, will it effect the Identification?

#3. When the Identification pauses at EST_State_LockRotor, how long we need to hold the rotor? Only in this status or until Motor Identified? We have tried both method but none of them have the same results like above.

#4. I have never gotten that big flux (> 2). I always got around 1 or less. Is it reasonable?

Thanks again for helping!

Best regards,

Maria

Hello Chris,

Today we got this result (by locking tight the rotor at EST_State_LockRotor until the end of Identification):

#a. Rr is around 2 Ohm. Is it not too small?

#b. Ls_d and Ls_q are 0.184. Compared to your InstaSPIN-MOTION result, they are higher. Also compared to your lab2a result, they are much more higher.

#c. And again, we don't get > 2 flux. The flux is only 1.59.

The second time, with the same Identification Settings, we got this result:

Do these two results make sense? Can I put one of them in user.h?

Thanks for the advice.

Best regards,

Maria

1. I am using a US AC input of 120V and the HVMTR kit AC/DC rectifier (which gives me 165-175V DC).

2. No, you should NOT use PFC with the InstaSPIN projects at this time. None of the projects yet include. Always best to use DC input when available.

3. You need to keep the rotor locked for the remainder of the identification period until it completes.

4. I think we are both seeing some issues with the motor ID portion.  For your user.h you should use

#define USER_MOTOR_RATED_FLUX           (0.8165*220.0/60.0)  // sqrt(2/3)* Rated V (line-line) / Rated Freq (Hz)

Maria,

Since you are using a known ACI motor I suggest you use the values already in the hvkit user.h

\sw\solutions\instaspin_foc\boards\hvkit_rev1p1\f28x\f2806xF\src

and move on to using the MotorWare labs.

Bypass the ID process and use RsRecal.

Again, we know that we have some issues with ACI motor ID, but this is something different. I think there is an additional issue with this GUI project that is causing some issues.

Hello Chris, thank you for the advices!

I will move on to Motorware project.

If I have any difficulty, please help again. Thanks in advanced!

Best regards,

Maria

Hello Chris,

FYI, I tested the marathon motor using proj_lab02a under CCS5.4 many times and the results were quite similar and stable.

Please see two results below.

Thanks for your attention!

Best regards,

Maria

Hello,

When I used proj_lab3a (with user.h provided by Motorware) and continued to proj_lab3b, I noticed that the Flux was dropped to be around 2.4 in both proj_lab3a and proj_lab3b (in proj_lab2a and proj_lab2s, it was around 3.4).

As far as I know, this value should be constant. Does it make sense?

Thanks for helping!

Best regards,

Maria

Maria,

gMotorVars.Flux_VpHz is a constantly measured value, so in general it should be consistent in your case.  Now, it will change as the flux of the motor changes, i.e if you change the characterisits of the magnetic field by changing Id in any way (or using PowerWarp to minimize Id), and with an induction motor it will also change with voltage changes.

But in general operation you should not see the discrepency you are seeing moving from lab 2b to 3a/b.

The only thing I could think of would be to look at what changes between those labs.

- what did you change in the USER_MOTOR parameters? are you using the same values?

- Are you running OffsetRecal in both? Are you saving the correct V and I Offsets to your user.h?

- is your bus votage significantly different for some reason?

- are the parameters you identified in 2b being loaded into your gMotorVars structure properly in 3a/b?

Hello Chris,

After tried proj_lab 2c couple of times (I used user.h from Motorware, only changed the motor type to be marathon motor), one of the result of 2c was:

Then I put these values to user.h:

#elif (USER_MOTOR == Marathon_5K33GN2A)                         
#define USER_MOTOR_TYPE                                 MOTOR_Type_Induction 
#define USER_MOTOR_NUM_POLE_PAIRS       (2)                      
#define USER_MOTOR_Rr                                      (5.4)    
#define USER_MOTOR_Rs                                     (10.4)     
#define USER_MOTOR_Ls_d                                 (0.0575)  
#define USER_MOTOR_Ls_q                                 (0.0575) 
#define USER_MOTOR_RATED_FLUX                 (3.4)   
#define USER_MOTOR_MAGNETIZING_CURRENT  (1.45)    
#define USER_MOTOR_RES_EST_CURRENT          (0.5)               
#define USER_MOTOR_IND_EST_CURRENT            (NULL)                 
#define USER_MOTOR_MAX_CURRENT                     (2.0)                  
#define USER_MOTOR_FLUX_EST_FREQ_Hz           (5.0)             

One of the results for 3a was:

As we can see, the parameters from user.h were loaded to gMotorVars.

Then Rs was updated (just like the user guide said). There was DRV_getBias() in main loop for 3a and V and I Offsets were updated.

And then I put the I and V Offsets that I got from 3a to user.h (but I didn't change Rs and Flux in user.h).

One of the results of 3b was:

In 3b, Rs Calibration was OFF (just like the user guide said).

gMotorVars.Flag_enableOffsetcalc was set TRUE and CTRL_setFlag_enableOffset(ctrlHandle,gMotorVars.Flag_enableOffsetcalc) was called in main loop to enable the Offset calibration.

About Bus Voltage, how to check it? Using code or hardware?

Thanks for helping!

Best regards,

Maria

Maria,

Do me a favor. Please give me screenshots of your gMotorVars.adcBias.I.value and V.value during the following

1. at a fresh boot

2. while first part of motor ID is running

3. after you lock the rotor and continue with motor ID

4. after the motor has been identified

5. after you start the motor with OffsetRecal TRUE

Hello Chris,

Which user.h that I need to use for these, from original Motorware (proj_lab02) or from the modified user.h (after Motor ID, proj_lab03)?

But considering I need to enable Offset Recal, it means the project is proj_lab03 (using my own board parameters). Please correct me if it is not the one you mention.

Thank you.

Hello Chris,

I arranged the screenshoot like below so you can see what I enabled or disabled.

Hope this helps!

Thank you!

Maria,

Thanks for the screenshots. Very helpful and glad to see that everything looks normal. I was going through my notes and noticed that I had filed a bug report several months ago regarding the ADC Bias value was changing during ID (only for ACI motors because there is the pause to lock the rotor), but from your screenshots that has been fixed. 

Regarding your user.h, please attach the one you ar using, which should be from here:

C:\ti\motorware\MotorWare_1_01_00_09\sw\solutions\instaspin_foc\boards\hvkit_rev1p1\f28x\f2806xF\src\user.h

4048.user.h

Hello Chris,

I attached my user.h, the one that I used for proj_lab03b.

The differences are in Voltage Offsets, Current Offsets, and in USER_MOTOR == Marathon_5K33GN2A part.

Please advice if there is anything else that I need to change.

Thanks a lot!

Best regards,

Maria

Maria,

The only thing that stands out is the Voltage offsets being higher than I'm used to, but I'm typically running off a 170V bus and you're using 300V I believe, so it certainly could be correct.  Double check that I guess, but everything else looks fine.

As I mentioned we are looking into the ACI issues and will have some SW fixes. We have MotorWare releases planned for end of October and end of November.

At this point I think we're going to have to wait on those updates..