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Torque mode issues

Anne-Marie Cressin
Prodigy 155 points

Other Parts Discussed in Thread: TMDSHVMTRINSPIN, MOTORWARE

Hi,
My setup is the TMDSHVMTRINSPIN kit and the HVACIMTR (marathon 5K33GN2A).

I want to run the motor in torque mode but I am having 2 issues:

1- The current amplitude (read from oscilloscope) does not increase when increasing Iq (using Motorware labs 4 and 5a, increasing gMotorVars.IqRef_A). Is there a way to display the Iq measured (not commanded)?

2- Is there a way to quickly put the motor into sensored torque mode?
(Can I modify Motorware labs 4 or 5a or start over from scratch? If the latter, do you have any pointers?)

Thank you so much,

Anne-Marie

  • 0
    TI__Guru** 119680 points
    ‎
    ‎0. Please make sure you are using version 12 of MW
    1. You can view Iq fdbk in proj_lab10. Note that you will only reach IqRef under load. Iq will be kept to minimum value to meet load demand, it can not make the motor consume more current (nor would you want it to)
    2. Easiest way is to use MOTION lab12 where encoder feedback is introduced. Then you will have to disconnect the speed controller a just provide IqRef like is shown in 5a.‎
    ‎
  • 0 in reply to ChrisClearman
    Prodigy 155 points

    Thank you Chris for the prompt reply.

    0- Yes I am using Motorware V12.

    1- Will test it out and get back to you.

    2- That is a great suggestion, I will try that. I would also like to import the code from lab 10 to view Iq fdbk into lab 12 (or in general I would like to make a function). I would love some help with this.

    Thank you,

    Anne-Marie

  • 0 in reply to Anne-Marie Cressin
    TI__Guru** 119680 points

    it's very easy to take functions that are in one lab and add them to another. Example, I do this myself each release because I like the features of lab10, but want the field weakening of lab9 in the same project.  Just look at the new functions introduced in the instaspin_labs document and replicate in your code.

    same for turning lab12 into a torque controller. Just note how this was done in lab4/5a and replicate in 12.

    You need to understand how the project code works anyways, so this is a good way to learn.

     

     

  • 0 in reply to ChrisClearman
    Prodigy 120 points

    Chris

    I am interested in doing the same thing as well, were I want to change lab12 to be Torque Mode. I have been following the labs and most of the other tutorials, but I still have some questions.

    1. Do I disable SpinTac Position Converter and Velocity Converter in lab12b, to give it the IQRef directly ?

    2. If I have disable SpinTac Position Converter, where will the sensored feedback be hooked to ?

    3. If I don't have to disable SpinTac positon and Velocity Converters, then how do I connect IqRef instead of SpdRef ?

    Thank you !

  • 0 in reply to Randika
    Guru 12800 points

    Beshan,

    This should be pretty simple.  

    1. You should only need to disable the velocity controller since that is the part that provides the IqReference.

    2. The sensored feedback will still be hooked up to the FOC and you don't need to disable the PositionConverter since it will be able to give you position and speed information from the sensor.

    3. You would need to look at the code in the torque control lab for an example of how to connect a global variable up to the Iq Reference input.

  • 0 in reply to Adam D. Reynolds
    Prodigy 120 points

    Thank you for your quick response !!!. I will give it a try right away. One more question please.....

    If I don't disable PositionConverter, what do I do with it's Speed and Position output ? It wont be connected to anywhere correct ? Maybe you are implying that I can use it for debug or other system level information ?

    Thanks

    Beshan

  • 0 in reply to Randika
    Guru 12800 points

    Beshan,

    Yes I was implying that it could be useful as debug/system information even though it isn't being used for control.

  • 0 in reply to Adam D. Reynolds
    Prodigy 120 points

    Hi Adam

    thanks again for your reply. What do I loose by not having SpinTac Velocity? Is that module specifically to control velocity of the motor given User input and motor feedback ? If I am in Torque mode, I just cannot use SpinTac Velocity because my commands are based on torque ?

    By the way, my application is a motor controller for electric vehicles, and all user inputs are based on Torque. Hope that puts some context to my questions.

    thanks again !!

    Beshan

  • 0 in reply to Randika
    Guru 12800 points

    Beshan,

    What you lose by not having SpinTAC Velocity Control is a speed controller.  That module is designed to take a reference speed input and the feedback speed and will provide an output torque to regulate the speed of the motor.  

    Sounds like for your torque control application you don't need a speed controller.