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Inertia Identification problem

Alexandros Amargianos
Prodigy 125 points
Other Parts Discussed in Thread: DRV8301-69M-KIT, MOTORWARE

Hello e2e community,

I m using the drv8301-69M-KIT in light weight electric cart (nearly 100 kilograms without the driver) and i just entered the Instaspin-MOTION labs.

I went through the labs 2-4 with no problem and i decided to go to lab 5c in order to finally tune the motor in the next two projects. To my understanding, in order to do the inertia identification the motor should be connected to the wheel (it gives power to one wheel through a gear) while the cart isn't on the ground so the wheel is free to rotate. When the procedure started (Flag_Run_Identify set to 1) the wheel did not rotate and a high pitch sound was produced by the motor. I changed the StopSpeedRed_krmp, VellGoaldSpeed_krpm, VellidTorqueRampTime_sec by the problem insisted. 

Finally i stopped my experiments because i was afraid i would damage the motor. I attach the user.h file and i m free for suggestions!

Best Regards,
Alexandros

  • 0
    TI__Guru** 119670 points

    I assume the wheel is not loaded. It's not resting on the ground, right?

    Anything tightly coupled to the rotor should be free to spin during the acceleration performed by Inertia ID.

    Is this correct:
    - motor rotor with gear head
    - connected to gear
    - connected to wheel

     

  • 0
    Guru 12800 points

    Alexandros,

    The user.h file that you attached is for InstaSPIN-FOC.  InstaSPIN-MOTION uses a different user.h file.  It is located here: C:\ti\motorware\motorware_1_01_00_12\sw\solutions\instaspin_motion\boards\drv8301kit_revD\f28x\f2806xM\src

    You need to copy your motor from the InstaSPIN-FOC user.h to the InstaSPIN-MOTION user.h.  Additional instructions for how to do this are in the lab guide for lab 5c.

    Your approach for how to identify inertia is correct.  The cart & driver would be considered load and not inertia.  Sounds like a really cool application.

  • 0 in reply to Adam D. Reynolds
    Prodigy 125 points

    Chris you assumed right. Adam that is a thing that i have read and totally forgot, i ll try this first thing in the morning.

    Thank you both for your immediate reply!

    Alexandros