Query related with sensor FOC.

Labs 12 and 13 under instaspin_motion use an encoder. Give that a try.

-Jorge

Thanks jorge,

Lab 12 & 13 have spintac library for motion, so can i merge this for FOC?

Absolutely, the encoder interface as it is used in labs 12 and 13 can also be used in any of the instaspin_foc labs, you would need to add enc.c and qep.c to your projects, and pretty much have the same ENC_x function calls as in lab 12 but in the instaspin_foc labs. Also in the project properties you need to add a definition of "QEP" as it is done in instaspin_motion projects that use an encoder.

-Jorge

Thank you jorge,

I added enc.c and qep.c file in my FOC project. Still I have to add below files and function in main_ISR and main()?

spintac_pos_conv.h, slip.h, spintac_vel_id.h and other spintac related files

/////////////////

void main(void)

{ // initialize the ENC module

encHandle = ENC_init(&enc, sizeof(enc));

// setup the ENC module

HAL_Obj *hal_obj = (HAL_Obj *)halHandle;

ENC_setup(encHandle, hal_obj->qepHandle[0], 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);

// initialize the SLIP module

slipHandle = SLIP_init(&slip, sizeof(slip));

// setup the SLIP module

SLIP_setup(slipHandle, _IQ(gUserParams.ctrlPeriod_sec));

// initialize the SpinTAC Components

stHandle = ST_init(&st_obj, sizeof(st_obj));

// setup the SpinTAC Components

ST_setupVelId(stHandle);

ST_setupPosConv(stHandle);

}

interrupt void mainISR(void)

{

// Run the SpinTAC Components

if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {

ST_runPosConv(stHandle, encHandle, ctrlHandle);

ST_runVelId(stHandle, ctrlHandle);

stCnt = 1;

}

if(USER_MOTOR_TYPE == MOTOR_Type_Induction) {

// update the electrical angle for the SLIP module

SLIP_setElectricalAngle(slipHandle, ENC_getElecAngle(encHandle));

// compute the amount of slip

SLIP_run(slipHandle);

// run the controller

CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData,SLIP_getMagneticAngle(slipHandle));

}

else {

// run the controller

CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData,ENC_getElecAngle(encHandle));

}

}

Any one have idea about this thread?

For sensored induction motor control you need some software that can estimate the amount of slip in the motor.

This capability is provided by the SpinTAC Position Converter.  So you would need to include spintac_pos_conv.h in your project.  

The estimated slip is provided to the SLIP module that will calculate the magnetic angle of the induction motor.  You would also need to include slip.h in your project. 

I don't think you would need spintac_vel_id.h in your project.  That component is only used to estimate the amount of inertia in the system.

Thanks Adam,

Based on your suggestion i implemented spintac for sensored in my FOC project. It worked.

but i faced one problem. I implemented field weaking example in my sensorless FOC for ACIM. it works fine. but same can not work for sensored. Motor is hunting in field weaking zone in sensored FOC. So is any change for sensored?

What do you mean by hunting in field weakening zone?  Are you implementing field weakening while the motor is holding zero speed?  Or is the motor oscillating around the goal speed when spinning faster than rated speed?  

If it is oscillating when at field weakening speeds you should try decreasing the speed loop gain.