• State Resolved
  • Locked Locked
  • Replies 33 replies
  • Subscribers 83 subscribers
  • Views 5614 views
  • Users 0 members are here
Support feedback
Options
Options
Related

This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

InstaSPIN FOC

KV
Expert 1800 points
Other Parts Discussed in Thread: DRV8301, MOTORWARE, CONTROLSUITE, MOTORKITSCNCD69MISO

Hi,

I have purchased TMDSCNCD28069MISO Piccolo F28069M (ROM) controlCARD and practising InstaSPIN FOC lab exercises. Currently testing Lab 2C and noticed the motor does not start at all.  It was smoothly starting with InstaSPIn BLDC though.  Attached the code and suggest how to resolve the same at the earliest.

Currently using CCS V5.4.0.00091 with V6.1.3 compiler.


Thx & rgds

KV

=======================

#ifndef _USER_H_
#define _USER_H_
/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/

//! \file   solutions/instaspin_foc/boards/drv8301kit_revD/f28x/f2806xF/src/user.h
//! \brief  Contains the public interface for user initialization data for the CTRL, HAL, and EST modules
//!
//! (C) Copyright 2012, Texas Instruments, Inc.


// **************************************************************************
// the includes

// modules
#include "sw/modules/types/src/types.h"
#include "sw/modules/motor/src/motor.h"
#include "sw/modules/est/src/32b/est.h"
#include "sw/modules/est/src/est_states.h"
#include "sw/modules/est/src/est_Flux_states.h"
#include "sw/modules/est/src/est_Ls_states.h"
#include "sw/modules/est/src/est_Rs_states.h"
#include "sw/modules/ctrl/src/32b/ctrl_obj.h"


// platforms
#include "sw/modules/fast/src/32b/userParams.h"

//!
//!
//! \defgroup USER USER
//!
//@{


#ifdef __cplusplus
extern "C" {
#endif

// **************************************************************************
// the defines


//! \brief CURRENTS AND VOLTAGES
// **************************************************************************
//! \brief Defines the full scale frequency for IQ variable, Hz
//! \brief All frequencies are converted into (pu) based on the ratio to this value
//! \brief this value MUST be larger than the maximum speed that you are expecting from the motor
//#define USER_IQ_FULL_SCALE_FREQ_Hz        (800.0)   // 800 Example with buffer for 8-pole 6 KRPM motor to be run to 10 KRPM with field weakening; Hz =(RPM * Poles) / 120
#define USER_IQ_FULL_SCALE_FREQ_Hz        (550.0)   // 800 Example with buffer for 8-pole 6 KRPM motor to be run to 10 KRPM with field weakening; Hz =(RPM * Poles) / 120

//! \brief Defines full scale value for the IQ30 variable of Voltage inside the system
//! \brief All voltages are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST meet the following condition: USER_IQ_FULL_SCALE_VOLTAGE_V > 0.5 * USER_MOTOR_MAX_CURRENT * USER_MOTOR_Ls_d * USER_VOLTAGE_FILTER_POLE_rps,
//! \brief WARNING: otherwise the value can saturate and roll-over, causing an inaccurate value
//! \brief WARNING: this value is OFTEN greater than the maximum measured ADC value, especially with high Bemf motors operating at higher than rated speeds
//! \brief WARNING: if you know the value of your Bemf constant, and you know you are operating at a multiple speed due to field weakening, be sure to set this value higher than the expected Bemf voltage
//! \brief It is recommended to start with a value ~3x greater than the USER_ADC_FULL_SCALE_VOLTAGE_V and increase to 4-5x if scenarios where a Bemf calculation may exceed these limits
//! \brief This value is also used to calculate the minimum flux value: USER_IQ_FULL_SCALE_VOLTAGE_V/USER_EST_FREQ_Hz/0.7
//#define USER_IQ_FULL_SCALE_VOLTAGE_V      (24.0)   // 24.0 Example for drv8301_revd typical usage and the Anaheim motor
#define USER_IQ_FULL_SCALE_VOLTAGE_V      (48.0)   // 48.0V the Tuktuk motor

//! \brief Defines the maximum voltage at the input to the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the voltage sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_VOLTAGE_V       (66.32)      // 66.32 drv8301_revd voltage scaling

//! \brief Defines the voltage scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_VOLTAGE_SF               ((float_t)((USER_ADC_FULL_SCALE_VOLTAGE_V)/(USER_IQ_FULL_SCALE_VOLTAGE_V)))

//! \brief Defines the full scale current for the IQ variables, A
//! \brief All currents are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST be larger than the maximum current readings that you are expecting from the motor or the reading will roll over to 0, creating a control issue
#define USER_IQ_FULL_SCALE_CURRENT_A          (41.25)   // 41.25 Example for drv8301_revd typical usage
//#define USER_IQ_FULL_SCALE_CURRENT_A          (18)   // 41.25 Example for drv8301_revd typical usage

//! \brief Defines the maximum current at the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the current sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_CURRENT_A        (82.5)     // 82.5 drv8301_revd current scaling

//! \brief Defines the current scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_CURRENT_SF               ((float_t)((USER_ADC_FULL_SCALE_CURRENT_A)/(USER_IQ_FULL_SCALE_CURRENT_A)))

//! \brief Defines the number of current sensors used
//! \brief Defined by the hardware capability present
//! \brief May be (2) or (3)
#define USER_NUM_CURRENT_SENSORS            (3)   // 3 Preferred setting for best performance across full speed range, allows for 100% duty cycle

//! \brief Defines the number of voltage (phase) sensors
//! \brief Must be (3)
#define USER_NUM_VOLTAGE_SENSORS            (3) // 3 Required

//! \brief ADC current offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
//#define   I_A_offset    (0.9939797521)
//#define   I_B_offset    (1.014363647)
//#define   I_C_offset    (1.005615234)
#define   I_A_offset    (0.992832303)
#define   I_B_offset    (0.9935344458)
#define   I_C_offset    (0.9926592708)

//! \brief ADC voltage offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
//#define   V_A_offset    (0.5020679235)
//#define   V_B_offset    (0.4977650046)
//#define   V_C_offset    (0.4986107945)
#define   V_A_offset    (0.5381707549)
#define   V_B_offset    (0.5362280607)
#define   V_C_offset    (0.5383616686)

//! \brief CLOCKS & TIMERS
// **************************************************************************
//! \brief Defines the system clock frequency, MHz
#define USER_SYSTEM_FREQ_MHz             (90.0)

//! \brief Defines the Pulse Width Modulation (PWM) frequency, kHz
//! \brief PWM frequency can be set directly here up to 30 KHz safely (60 KHz MAX in some cases)
//! \brief For higher PWM frequencies (60 KHz+ typical for low inductance, high current ripple motors) it is recommended to use the ePWM hardware
//! \brief and adjustable ADC SOC to decimate the ADC conversion done interrupt to the control system, or to use the software Que example.
//! \brief Otherwise you risk missing interrupts and disrupting the timing of the control state machine
//#define USER_PWM_FREQ_kHz                (45.0) //30.0 Example, 8.0 - 30.0 KHz typical; 45-80 KHz may be required for very low inductance, high speed motors
#define USER_PWM_FREQ_kHz                (45.0) //30.0 Example, 8.0 - 30.0 KHz typical; 45-80 KHz may be required for very low inductance, high speed motors

//! \brief Defines the maximum Voltage vector (Vs) magnitude allowed.  This value sets the maximum magnitude for the output of the
//! \brief Id and Iq PI current controllers.  The Id and Iq current controller outputs are Vd and Vq.
//! \brief The relationship between Vs, Vd, and Vq is:  Vs = sqrt(Vd^2 + Vq^2).  In this FOC controller, the
//! \brief Vd value is set equal to USER_MAX_VS_MAG*USER_VD_MAG_FACTOR.  Vq = sqrt(USER_MAX_VS_MAG^2 - Vd^2).
//! \brief Set USER_MAX_VS_MAG = 1.0 for a pure sinewave with a peak at SQRT(3)/2 = 86.6% duty cycle.  No current reconstruction is needed for this scenario.
//! \brief Set USER_MAX_VS_MAG = 2/SQRT(3) = 1.1547 for a pure sinewave with a peak at 100% duty cycle.  Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief Set USER_MAX_VS_MAG = 4/3 = 1.3333 to create a trapezoidal voltage waveform.  Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief For space vector over-modulation, see lab 10 for details on system requirements that will allow the SVM generator to go all the way to trapezoidal.
#define USER_MAX_VS_MAG_PU        (1.0)    // Set to 1.0 if a current reconstruction technique is not used.  Look at the module svgen_current in lab10a-x for more info.


//! \brief Defines the Pulse Width Modulation (PWM) period, usec
//! \brief Compile time calculation
#define USER_PWM_PERIOD_usec       (1000.0/USER_PWM_FREQ_kHz)

//! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz
//!
#define USER_ISR_FREQ_Hz           ((float_t)USER_PWM_FREQ_kHz * 1000.0 / (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK)

//! \brief Defines the Interrupt Service Routine (ISR) period, usec
//!
#define USER_ISR_PERIOD_usec       (USER_PWM_PERIOD_usec * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK)


//! \brief DECIMATION
// **************************************************************************
//! \brief Defines the number of pwm clock ticks per isr clock tick
//!        Note: Valid values are 1, 2 or 3 only
#define USER_NUM_PWM_TICKS_PER_ISR_TICK        (3)

//! \brief Defines the number of isr ticks (hardware) per controller clock tick (software)
//! \brief Controller clock tick (CTRL) is the main clock used for all timing in the software
//! \brief Typically the PWM Frequency triggers (can be decimated by the ePWM hardware for less overhead) an ADC SOC
//! \brief ADC SOC triggers an ADC Conversion Done
//! \brief ADC Conversion Done triggers ISR
//! \brief This relates the hardware ISR rate to the software controller rate
//! \brief Typcially want to consider some form of decimation (ePWM hardware, CURRENT or EST) over 16KHz ISR to insure interrupt completes and leaves time for background tasks
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK       (1)      // 2 Example, controller clock rate (CTRL) runs at PWM / 2; ex 30 KHz PWM, 15 KHz control

//! \brief Defines the number of controller clock ticks per current controller clock tick
//! \brief Relationship of controller clock rate to current controller (FOC) rate
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK   (1)      // 1 Typical, Forward FOC current controller (Iq/Id/IPARK/SVPWM) runs at same rate as CTRL.

//! \brief Defines the number of controller clock ticks per estimator clock tick
//! \brief Relationship of controller clock rate to estimator (FAST) rate
//! \brief Depends on needed dynamic performance, FAST provides very good results as low as 1 KHz while more dynamic or high speed applications may require up to 15 KHz
#define USER_NUM_CTRL_TICKS_PER_EST_TICK       (1)      // 1 Typical, FAST estimator runs at same rate as CTRL;

//! \brief Defines the number of controller clock ticks per speed controller clock tick
//! \brief Relationship of controller clock rate to speed loop rate
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK  (15)   // 15 Typical to match PWM, ex: 15KHz PWM, controller, and current loop, 1KHz speed loop

//! \brief Defines the number of controller clock ticks per trajectory clock tick
//! \brief Relationship of controller clock rate to trajectory loop rate
//! \brief Typically the same as the speed rate
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK   (15)   // 15 Typical to match PWM, ex: 10KHz controller & current loop, 1KHz speed loop, 1 KHz Trajectory

//! \brief Defines the controller frequency, Hz
//! \brief Compile time calculation
#define USER_CTRL_FREQ_Hz          (uint_least32_t)(USER_ISR_FREQ_Hz/USER_NUM_ISR_TICKS_PER_CTRL_TICK)

//! \brief Defines the estimator frequency, Hz
//! \brief Compile time calculation
#define USER_EST_FREQ_Hz           (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_EST_TICK)

//! \brief Defines the trajectory frequency, Hz
//! \brief Compile time calculation
#define USER_TRAJ_FREQ_Hz          (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_TRAJ_TICK)

//! \brief Defines the controller execution period, usec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_usec      (USER_ISR_PERIOD_usec * USER_NUM_ISR_TICKS_PER_CTRL_TICK)

//! \brief Defines the controller execution period, sec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_sec       ((float_t)USER_CTRL_PERIOD_usec/(float_t)1000000.0)


//! \brief LIMITS
// **************************************************************************
//! \brief Defines the maximum negative current to be applied in Id reference
//! \brief Used in field weakening only, this is a safety setting (e.g. to protect against demagnetization)
//! \brief User must also be aware that overall current magnitude [sqrt(Id^2 + Iq^2)] should be kept below any machine design specifications
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A     (-0.5 * USER_MOTOR_MAX_CURRENT)   // -0.5 * USER_MOTOR_MAX_CURRENT Example, adjust to meet safety needs of your motor

//! \brief Defines the low speed limit for the flux integrator, pu
//! \brief This is the speed range (CW/CCW) at which the ForceAngle object is active, but only if Enabled
//! \brief Outside of this speed - or if Disabled - the ForcAngle will NEVER be active and the angle is provided by FAST only
#define USER_ZEROSPEEDLIMIT   (1.0 / USER_IQ_FULL_SCALE_FREQ_Hz)     // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz

//! \brief Defines the force angle frequency, Hz
//! \brief Frequency of stator vector rotation used by the ForceAngle object
//! \brief Can be positive or negative
#define USER_FORCE_ANGLE_FREQ_Hz   (USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz)      // 1.0 Typical force angle start-up speed

//! \brief Defines the maximum current slope for Id trajectory during PowerWarp
//! \brief For Induction motors only, controls how fast Id input can change under PowerWarp control
#define USER_MAX_CURRENT_SLOPE_POWERWARP   (0.3*USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz)  // 0.3*RES_EST_CURRENT / IQ_FULL_SCALE_CURRENT / TRAJ_FREQ Typical to produce 1-sec rampup/down

//! \brief Defines the starting maximum acceleration AND deceleration for the speed profiles, Hz/s
//! \brief Updated in run-time through user functions
//! \brief Inverter, motor, inertia, and load will limit actual acceleration capability
#define USER_MAX_ACCEL_Hzps                 (20.0)      // 20.0 Default

//! \brief Defines maximum acceleration for the estimation speed profiles, Hz/s
//! \brief Only used during Motor ID (commission)
//#define USER_MAX_ACCEL_EST_Hzps           (5.0)         // 5.0 Default, don't change
#define USER_MAX_ACCEL_EST_Hzps           (10.0)         // 5.0 Default, don't change

//! \brief Defines the maximum current slope for Id trajectory during estimation
#define USER_MAX_CURRENT_SLOPE           (USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz)      // USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz Default, don't change

//! \brief Defines the fraction of IdRated to use during rated flux estimation
//!
#define USER_IDRATED_FRACTION_FOR_RATED_FLUX (1.0)      // 1.0 Default, don't change

//! \brief Defines the fraction of IdRated to use during inductance estimation
//!
#define USER_IDRATED_FRACTION_FOR_L_IDENT    (1.0)      // 1.0 Default, don't change

//! \brief Defines the IdRated delta to use during estimation
//!
#define USER_IDRATED_DELTA                  (0.00002)

//! \brief Defines the fraction of SpeedMax to use during inductance estimation
//!
#define USER_SPEEDMAX_FRACTION_FOR_L_IDENT  (1.0)      // 1.0 Default, don't change

//! \brief Defines flux fraction to use during inductance identification
//!
#define USER_FLUX_FRACTION           (1.0)            // 1.0 Default, don't change

//! \brief Defines the PowerWarp gain for computing Id reference
//! \brief Induction motors only
#define USER_POWERWARP_GAIN                   (1.0)         // 1.0 Default, don't change

//! \brief Defines the R/L estimation frequency, Hz
//! \brief User higher values for low inductance motors and lower values for higher inductance
//! \brief motors.  The values can range from 100 to 300 Hz.
#define USER_R_OVER_L_EST_FREQ_Hz (300)               // 300 Default


//! \brief POLES
// **************************************************************************
//! \brief Defines the analog voltage filter pole location, Hz
//! \brief Must match the hardware filter for Vph
#define USER_VOLTAGE_FILTER_POLE_Hz  (335.648)   // 335.648, value for drv8301_revd hardware

//! \brief Defines the analog voltage filter pole location, rad/s
//! \brief Compile time calculation from Hz to rad/s
#define USER_VOLTAGE_FILTER_POLE_rps  (2.0 * MATH_PI * USER_VOLTAGE_FILTER_POLE_Hz)

//! \brief Defines the software pole location for the voltage and current offset estimation, rad/s
//! \brief Should not be changed from default of (20.0)
#define USER_OFFSET_POLE_rps            (20.0)   // 20.0 Default, do not change

//! \brief Defines the software pole location for the flux estimation, rad/s
//! \brief Should not be changed from default of (100.0)
#define USER_FLUX_POLE_rps              (100.0)   // 100.0 Default, do not change

//! \brief Defines the software pole location for the direction filter, rad/s
#define USER_DIRECTION_POLE_rps             (6.0)   // 6.0 Default, do not change

//! \brief Defines the software pole location for the speed control filter, rad/s
#define USER_SPEED_POLE_rps           (100.0)   // 100.0 Default, do not change

//! \brief Defines the software pole location for the DC bus filter, rad/s
#define USER_DCBUS_POLE_rps           (100.0)   // 100.0 Default, do not change

//! \brief Defines the convergence factor for the estimator
//! \brief Do not change from default for FAST
#define   USER_EST_KAPPAQ               (1.5)   // 1.5 Default, do not change

// **************************************************************************
// end the defines


//! \brief USER MOTOR & ID SETTINGS
// **************************************************************************

//! \brief Define each motor with a unique name and ID number
// BLDC & SMPM motors
#define Tuktukmotor                   113
#define Anaheim_BLY172S             102
#define My_Motor1                   104
#define hobby_3p5T                  105
#define hobby_4p5T                  106
#define small_hobby                 107
#define teknic_2310P                108
#define hobbywing_ezrun_8p5T        109
#define eflite_helicopter_420       110
#define Bodine_34B3FEBL             114
#define Pittman_elcom_5233B599      115
#define medical_instrument          117
#define Estun_EMJ_04APB22           101

// IPM motors
// If user provides separate Ls-d, Ls-q
// else treat as SPM with user or identified average Ls
#define Belt_Drive_Washer_IPM       201

// ACIM motors
#define Marathon_5K33GN2A           301
#define Kinetek_YDQ1p3_4            302
#define LPKF_CAD_CAM                303

//! \brief Uncomment the motor which should be included at compile
//! \brief These motor ID settings and motor parameters are then available to be used by the control system
//! \brief Once your ideal settings and parameters are identified update the motor section here so it is available in the binary code
#define USER_MOTOR Tuktukmotor
//#define USER_MOTOR Estun_EMJ_04APB22
//#define USER_MOTOR Anaheim_BLY172S - commented
//#define USER_MOTOR My_Motor1
//#define USER_MOTOR hobby_3p5T
//#define USER_MOTOR hobby_4p5T
//#define USER_MOTOR small_hobby
//#define USER_MOTOR Belt_Drive_Washer_IPM
//#define USER_MOTOR Marathon_5K33GN2A
//#define USER_MOTOR teknic_2310P
//#define USER_MOTOR hobbywing_ezrun_8p5T
//#define USER_MOTOR eflite_helicopter_420
//#define USER_MOTOR Bodine_34B3FEBL
//#define USER_MOTOR Pittman_elcom_5233B599
//#define USER_MOTOR medical_instrument
//#define USER_MOTOR Kinetek_YDQ1p3_4
//#define USER_MOTOR LPKF_CAD_CAM

#if (USER_MOTOR == Tuktukmotor)                         // Name must match the motor #define
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm  // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI)
#define USER_MOTOR_NUM_POLE_PAIRS       (20)           // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only
#define USER_MOTOR_Rr                   (NULL)         // Induction motors only, else NULL
#define USER_MOTOR_Rs                   (NULL)         // Identified phase to neutral resistance in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Ls_d                 (NULL)         // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_Ls_q                 (NULL)         // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_RATED_FLUX           (NULL)         // Identified TOTAL flux linkage between the rotor and the stator (V/Hz)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)         // Induction motors only, else NULL
#define USER_MOTOR_RES_EST_CURRENT      (3.0)          // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current
#define USER_MOTOR_IND_EST_CURRENT      (-3.0)         // During Motor ID, maximum current (negative Amperes, float) used for Ls estimation, use just enough to enable rotation
#define USER_MOTOR_MAX_CURRENT          (30)           // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)         // During Motor ID, maximum commanded speed (Hz, float), ~10% rated

/*
#if (USER_MOTOR == Estun_EMJ_04APB22)                  // Name must match the motor #define
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm  // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI)
#define USER_MOTOR_NUM_POLE_PAIRS       (4)            // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only
#define USER_MOTOR_Rr                   (NULL)         // Induction motors only, else NULL
#define USER_MOTOR_Rs                   (2.303403)     // Identified phase to neutral resistance in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Ls_d                 (0.008464367)  // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_Ls_q                 (0.008464367)  // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_RATED_FLUX           (0.38)         // Identified TOTAL flux linkage between the rotor and the stator (V/Hz)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)         // Induction motors only, else NULL
#define USER_MOTOR_RES_EST_CURRENT      (1.0)          // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)         // During Motor ID, maximum current (negative Amperes, float) used for Ls estimation, use just enough to enable rotation
#define USER_MOTOR_MAX_CURRENT          (3.82)         // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)         // During Motor ID, maximum commanded speed (Hz, float), ~10% rated
*/

#elif (USER_MOTOR == Anaheim_BLY172S)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.3968007)
#define USER_MOTOR_Ls_d                 (0.0006708066)
#define USER_MOTOR_Ls_q                 (0.0006708066)
#define USER_MOTOR_RATED_FLUX           (0.03433958)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (5.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)

#elif (USER_MOTOR == small_hobby)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (6)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (1.277921)
#define USER_MOTOR_Ls_d                 (0.0001230481)
#define USER_MOTOR_Ls_q                 (0.0001230481)
#define USER_MOTOR_RATED_FLUX           (0.004417491)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (0.5)
#define USER_MOTOR_IND_EST_CURRENT      (-0.5)
#define USER_MOTOR_MAX_CURRENT          (5.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (200.0)

#elif (USER_MOTOR == teknic_2310P)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.3654691)
#define USER_MOTOR_Ls_d                 (0.0002068772)
#define USER_MOTOR_Ls_q                 (0.0002068772)
#define USER_MOTOR_RATED_FLUX           (0.04052209)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (5.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)

#elif (USER_MOTOR == hobby_3p5T)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.0149275)
#define USER_MOTOR_Ls_d                 (2.575126e-06)
#define USER_MOTOR_Ls_q                 (2.575126e-06)
#define USER_MOTOR_RATED_FLUX           (0.003589415)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (15.0)
#define USER_MOTOR_IND_EST_CURRENT      (-5.0)
#define USER_MOTOR_MAX_CURRENT          (30.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (60.0)

#elif (USER_MOTOR == hobby_4p5T)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.01420126)
#define USER_MOTOR_Ls_d                 (6.466606e-06)
#define USER_MOTOR_Ls_q                 (6.466606e-06)
#define USER_MOTOR_RATED_FLUX           (0.004845501)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (5.0)
#define USER_MOTOR_IND_EST_CURRENT      (-5.0)
#define USER_MOTOR_MAX_CURRENT          (10.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (60.0)

#elif (USER_MOTOR == hobbywing_ezrun_8p5T)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (1)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.01366183)
#define USER_MOTOR_Ls_d                 (1.556967e-05)
#define USER_MOTOR_Ls_q                 (1.556967e-05)
#define USER_MOTOR_RATED_FLUX           (0.009272549)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (3.0)
#define USER_MOTOR_IND_EST_CURRENT      (-2.0)
#define USER_MOTOR_MAX_CURRENT          (10.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (60.0)

#elif (USER_MOTOR == eflite_helicopter_420)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (3)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.01953091)
#define USER_MOTOR_Ls_d                 (2.998549e-06)
#define USER_MOTOR_Ls_q                 (2.998549e-06)
#define USER_MOTOR_RATED_FLUX           (0.003449948)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (3.0)
#define USER_MOTOR_IND_EST_CURRENT      (-3.0)
#define USER_MOTOR_MAX_CURRENT          (15.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (80.0)

#elif (USER_MOTOR == Bodine_34B3FEBL)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (2)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.1749963)
#define USER_MOTOR_Ls_d                 (0.000843199)
#define USER_MOTOR_Ls_q                 (0.000843199)
#define USER_MOTOR_RATED_FLUX           (0.1139098)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (10.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)

#elif (USER_MOTOR == Pittman_elcom_5233B599)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (2)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.3675933)
#define USER_MOTOR_Ls_d                 (0.0001611779)
#define USER_MOTOR_Ls_q                 (0.0001611779)
#define USER_MOTOR_RATED_FLUX           (0.1274101)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (0.5)
#define USER_MOTOR_IND_EST_CURRENT      (-0.5)
#define USER_MOTOR_MAX_CURRENT          (5.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)

#elif (USER_MOTOR == medical_instrument)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (2)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.3858043)
#define USER_MOTOR_Ls_d                 (9.675411e-06)
#define USER_MOTOR_Ls_q                 (9.675411e-06)
#define USER_MOTOR_RATED_FLUX           (0.006834516)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (0.5)
#define USER_MOTOR_IND_EST_CURRENT      (-0.5)
#define USER_MOTOR_MAX_CURRENT          (10.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (100.0)

#elif (USER_MOTOR == My_Motor1)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (2)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.3918252)
#define USER_MOTOR_Ls_d                 (0.00023495)
#define USER_MOTOR_Ls_q                 (0.00023495)
#define USER_MOTOR_RATED_FLUX           (0.03955824)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (3.0)
#define USER_MOTOR_IND_EST_CURRENT      (-0.5)
#define USER_MOTOR_MAX_CURRENT          (20.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)

#elif (USER_MOTOR == Belt_Drive_Washer_IPM)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (4)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (2.832002)
#define USER_MOTOR_Ls_d                 (0.0115)
#define USER_MOTOR_Ls_q                 (0.0135)
#define USER_MOTOR_RATED_FLUX           (0.5022156)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (4.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)

#elif (USER_MOTOR == Marathon_5K33GN2A)                      // Name must match the motor #define
#define USER_MOTOR_TYPE                 MOTOR_Type_Induction // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI)
#define USER_MOTOR_NUM_POLE_PAIRS       (2)                  // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only
#define USER_MOTOR_Rr                   (5.508003)           // Identified phase to neutral in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Rs                   (10.71121)           // Identified phase to neutral in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Ls_d                 (0.05296588)         // For Induction, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_Ls_q                 (0.05296588)         // For Induction, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_RATED_FLUX           (0.8165*220.0/60.0)  // sqrt(2/3)* Rated V (line-line) / Rated Freq (Hz)
#define USER_MOTOR_MAGNETIZING_CURRENT  (1.378)              // Identified magnetizing current for induction motors, else NULL
#define USER_MOTOR_RES_EST_CURRENT      (0.5)                // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current
#define USER_MOTOR_IND_EST_CURRENT      (NULL)               // not used for induction
#define USER_MOTOR_MAX_CURRENT          (2.0)                // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (5.0)                // During Motor ID, maximum commanded speed (Hz, float). Should always use 5 Hz for Induction.

#elif (USER_MOTOR == Kinetek_YDQ1p3_4)
#define USER_MOTOR_TYPE                 MOTOR_Type_Induction
#define USER_MOTOR_NUM_POLE_PAIRS       (2)
#define USER_MOTOR_Rr                   (0.0)
#define USER_MOTOR_Rs                   (0.0)
#define USER_MOTOR_Ls_d                 (0.0)
#define USER_MOTOR_Ls_q                 (USER_MOTOR_Ls_d)
#define USER_MOTOR_RATED_FLUX           (0.8165*16.0/120.0 - USER_MOTOR_Ls_d*USER_MOTOR_MAGNETIZING_CURRENT*2*MATH_PI)
#define USER_MOTOR_MAGNETIZING_CURRENT  (0.0)
#define USER_MOTOR_RES_EST_CURRENT      (20.0)
#define USER_MOTOR_IND_EST_CURRENT      (NULL)
#define USER_MOTOR_MAX_CURRENT          (40.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (5.0)

#elif (USER_MOTOR == LPKF_CAD_CAM)
#define USER_MOTOR_TYPE                 MOTOR_Type_Induction
#define USER_MOTOR_NUM_POLE_PAIRS       (1)
#define USER_MOTOR_Rr                   (0.1832338)
#define USER_MOTOR_Rs                   (0.2610424)
#define USER_MOTOR_Ls_d                 (1.370321e-09)
#define USER_MOTOR_Ls_q                 (USER_MOTOR_Ls_d)
#define USER_MOTOR_RATED_FLUX           (0.8165*30.0/1000.0 - USER_MOTOR_Ls_d*USER_MOTOR_MAGNETIZING_CURRENT*2*MATH_PI)
#define USER_MOTOR_MAGNETIZING_CURRENT  (3.386112)
#define USER_MOTOR_RES_EST_CURRENT      (3.0)
#define USER_MOTOR_IND_EST_CURRENT      (NULL)
#define USER_MOTOR_MAX_CURRENT          (5.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)


#else
#error No motor type specified
#endif

#ifndef USER_MOTOR
#error Motor is not defined in user.h
#endif

#ifndef USER_MOTOR_TYPE
#error The motor type is not defined in user.h
#endif

#ifndef USER_MOTOR_NUM_POLE_PAIRS
#error Number of motor pole pairs is not defined in user.h
#endif

#ifndef USER_MOTOR_Rr
#error The rotor resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Rs
#error The stator resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_d
#error The direct stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_q
#error The quadrature stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_RATED_FLUX
#error The rated flux of motor is not defined in user.h
#endif

#ifndef USER_MOTOR_MAGNETIZING_CURRENT
#error The magnetizing current is not defined in user.h
#endif

#ifndef USER_MOTOR_RES_EST_CURRENT
#error The resistance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_IND_EST_CURRENT
#error The inductance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_MAX_CURRENT
#error The maximum current is not defined in user.h
#endif

#ifndef USER_MOTOR_FLUX_EST_FREQ_Hz
#error The flux estimation frequency is not defined in user.h
#endif


// **************************************************************************
// the functions


//! \brief      Sets the user parameter values
//! \param[in]  pUserParams  The pointer to the user param structure
extern void USER_setParams(USER_Params *pUserParams);


//! \brief      Checks for errors in the user parameter values
//! \param[in]  pUserParams  The pointer to the user param structure
extern void USER_checkForErrors(USER_Params *pUserParams);


//! \brief      Gets the error code in the user parameters
//! \param[in]  pUserParams  The pointer to the user param structure
//! \return     The error code
extern USER_ErrorCode_e USER_getErrorCode(USER_Params *pUserParams);


//! \brief      Sets the error code in the user parameters
//! \param[in]  pUserParams  The pointer to the user param structure
//! \param[in]  errorCode    The error code
extern void USER_setErrorCode(USER_Params *pUserParams,const USER_ErrorCode_e errorCode);


//! \brief      Recalculates Inductances with the correct Q Format
//! \param[in]  handle       The controller (CTRL) handle
extern void USER_softwareUpdate1p6(CTRL_Handle handle);


//! \brief      Updates Id and Iq PI gains
//! \param[in]  handle       The controller (CTRL) handle
extern void USER_calcPIgains(CTRL_Handle handle);


//! \brief      Computes the scale factor needed to convert from torque created by Ld, Lq, Id and Iq, from per unit to Nm
//! \return     The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm, in IQ24 format
extern _iq USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(void);


//! \brief      Computes the scale factor needed to convert from torque created by flux and Iq, from per unit to Nm
//! \return     The scale factor to convert torque from Flux * Iq from per unit to Nm, in IQ24 format
extern _iq USER_computeTorque_Flux_Iq_pu_to_Nm_sf(void);


//! \brief      Computes the scale factor needed to convert from per unit to Wb
//! \return     The scale factor to convert from flux per unit to flux in Wb, in IQ24 format
extern _iq USER_computeFlux_pu_to_Wb_sf(void);


//! \brief      Computes the scale factor needed to convert from per unit to V/Hz
//! \return     The scale factor to convert from flux per unit to flux in V/Hz, in IQ24 format
extern _iq USER_computeFlux_pu_to_VpHz_sf(void);


//! \brief      Computes Flux in Wb or V/Hz depending on the scale factor sent as parameter
//! \param[in]  handle       The controller (CTRL) handle
//! \param[in]  sf           The scale factor to convert flux from per unit to Wb or V/Hz
//! \return     The flux in Wb or V/Hz depending on the scale factor sent as parameter, in IQ24 format
extern _iq USER_computeFlux(CTRL_Handle handle, const _iq sf);


//! \brief      Computes Torque in Nm
//! \param[in]  handle          The controller (CTRL) handle
//! \param[in]  torque_Flux_sf  The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm
//! \param[in]  torque_Ls_sf    The scale factor to convert torque from Flux * Iq from per unit to Nm
//! \return     The torque in Nm, in IQ24 format
extern _iq USER_computeTorque_Nm(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf);


//! \brief      Computes Torque in lbin
//! \param[in]  handle          The controller (CTRL) handle
//! \param[in]  torque_Flux_sf  The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to lbin
//! \param[in]  torque_Ls_sf    The scale factor to convert torque from Flux * Iq from per unit to lbin
//! \return     The torque in lbin, in IQ24 format
extern _iq USER_computeTorque_lbin(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf);


#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif // end of _USER_H_ definition
=====================================

labs.pptx
  • 0
    TI__Guru** 119600 points

    proj_lab02c is for low inductance or low flux motors. although based on your current level your motor may very well be low Ls.

    did you first try to ID the motor using proj_lab02a or b?

    once you ID the parameters you can then move to proj_lab03 for saving your ADC Offsets then 05a for Torque mode and 05b for Speed mode.

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Hi Chris,

    Thanks for your immediate response.  As you rightly said my motor is coreless and hence has lower inductance.

    I tried initially with settings downloaded.  The attached file shows the same.  The motor did rotate but lot of jerks noticed hence started finetuning with parameters with the help of motor excel sheet.  This time around the rotor did not rotate at all and the red fault LED is ON plus blinking too.

    Could you pl review and let me know which parameter needs to be corrected.

    Do I need to upgrade to CCSV6?.

    1. FILL IN THESE VALUES FOR YOUR USER.H, MOTOR, and INVERTER HW         3. THESE VALUES ARE RECOMMENDED FOR USE once TRUE checks are satisfied    
    USER_SYSTEM_FREQ_MHz  90 MHz   sub-calculations        
    Maximum Bus Voltage 48 V         Ideal USER_IQ_FULL_SCALE_FREQ_Hz  for Motor 550.0 Target Hz with 10% buffer
    Maximum Target RPM  1500 RPM   500 Hz   Maximum allowed USER_IQ_FULL_SCALE_FREQ_HZ for HW 1386.0 4 * USER_VOLTAGE_FILTER_POLE_Hz [with 5% buffer]
    USER_MOTOR_NUM_POLE_PAIRS  20 PAIRS   40 POLES   USER_IQ_FULL_SCALE_FREQ_Hz 550.0 Lower of Ideal and Maximum
    USER_PWM_FREQ_kHz 45 kHz         Maximum RPM  Supported 3267 Rotor Hz can be 1.98 * USER_IQ_FULL_SCALE_FREQ_HZ; EST speed will roll-over outside boundary!!!!
    USER_NUM_PWM_TICKS_PER_ISR_TICK  3 ticks   15 kHz   USER_MOTOR_FLUX_EST_FREQ_Hz 50.0 5-150 Hz; ~10% of Maximum Target Hz but use low as possible where Ls and Flux can be ID'd consistently
    USER_NUM_ISR_TICKS_PER_CTRL_TICK  1 ticks   15 kHz   USER_MAX_ACCEL_EST_Hzps   10.0  If USER_MOTOR_FLUX_EST_FREQ_Hz > 50 Hz must increase the acceleration during ID to avoid a timeout
    USER_NUM_CTRL_TICKS_PER_CURRENT_TICK 1 ticks   15 kHz   CURRENT  Hz > MAX_Hz * 7 TRUE If FALSE increase CURRENT kHz or reduce MAX_HZ; Standard good practice for control systems
    USER_NUM_CTRL_TICKS_PER_EST_TICK  1 ticks   15 kHz   EST <= CTRL TRUE If FALSE correct; No need to run the estimator if results are not being updated in control loop
    USER_ZEROSPEEDLIMIT 0.002         EST > 10 * USER_VOLTAGE_FILTER_POLE_Hz (+10% margin) TRUE If FALSE increase EST Rate 
    2. The following are set by HW design, use defaults for TI EVM or your own HW             EST > 8 * TARGET_Hz TRUE If FALSE, increase effective EST Frequency using TICKs
    USER_VOLTAGE_FILTER_POLE_Hz 364.682 Hz   Tune to HW Pole   FLUX_EST_FREQ > ZEROSPEEDLIMIT * FULL_SCALE_FREQ TRUE If FALSE, lower ZEROSPEEDLIMIT
    USER_ADC_FULL_SCALE_CURRENT_A  82.50 A         USER_IQ_FULL_SCALE_CURRENT_A   42.0 Slightly >= 0.5 * ADC_FULL_SCALE_CURRENT_A
    USER_ADC_FULL_SCALE_VOLTAGE_V  66.32 V         starting USER_IQ_FULL_SCALE_VOLTAGE_V  48.0 Initially set to bus voltage until flux is identified
    4. Once Motor ID is attempted, update these as best you can and check IQ_V Scaling             4. Check after valid USER_MOTOR_RATED_FLUX Identification    
    USER_MOTOR_RATED_FLUX 0.023 V/Hz   0.004571429 V/Hz   = Minimum Flux that can be measured with new USER_IQ_FULL_SCALE_VOLTAGE_V (cell I20)    
    USER_MOTOR_Ls_d 0.00005 H         Minimum Flux Measurement < 0.9 * RATED_FLUX TRUE If FALSE, reduce new USER_IQ_FULL_SCALE_VOLTAGE as low as Bus Voltage / 2 + 10% buffer
    5. * Ideal Pole Design when you build wwn HW             IQ_VOLTAGE < RATED_FLUX * EST Hz TRUE If FALSE, reduce new USER_IQ_FULL_SCALE_VOLTAGE or increase EST_Hz
    Minimum Pole 200 Hz MIN         new USER_IQ_FULL_SCALE_VOLTAGE_V  48.0 Use larger of a) or b).  Minimum of Bus Voltage / 2 + 10% buffer if required to make I18 & I19 TRUE
    Ideal* Pole  >= 137.5 Hz          a) Bus Voltage 48.0 Typical Minimum, but can reduce as low as Bus Voltage / 2 + 10% buffer
    Half** Pole >= 68.75 Hz         b) Bemf Generated @ Target Hz + 10% buffer 12.7  
                       
    * Use Ideal pole to keep Target Hz <  USER_IQ_FULL_SCALE_FREQ_Hz but note that as pole Hz increases you are more susceptible to drift/error and should use higher precision Vph filter Capacitors    
    ** You may use a lower pole (down to half the value of the ideal) that is less sensitive to capacitor error/offset/drift.  Set USER_IQ_FULL_SCALE_FREQ_HZ <= 4 * Lowered Pole  * 0.95 buffer. Target Hz can reach +/- 1.98 * USER_IQ_FULL_SCALE_FREQ_Hz
    Performance difference between the two is typically very marginal though.  Do NOT use a filter pole < Minimum Pole!!!    

    thx & rgds

    KV

    labs.pptx
  • 0 in reply to KV
    TI__Guru** 119600 points

    you .ppt shows you are running 2a, you need to run 02c for this motor.

    note that the Rs / Ls in your ppt = 5.  This can tell you right away there is an error. Your Rs / Ls > max frequency_Hz

    try 02c to do ID and post the results.  Look at the controller_obj.RoverL value and post the result.

    ATTACH your user.h from the options (don't copy/paste) next time.

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Hi Chris,

    I ran Lab 02C but the motor did not respond.  Tried changing the max frequency_Hz i.e.,#define USER_MOTOR_FLUX_EST_FREQ_Hz to 5 and also to 45 but no improvement.

    Was trying to locate controller_obj.RoverL value from watch window but not find it.

    Could you pl advise me how to sort this at the earliest

    thx

    KVRao

  • 0 in reply to KV
    TI__Guru** 119600 points

    KV said:
    I ran Lab 02C but the motor did not respond. 

    SOMETHING must have happened.

    Did it go through RoverL?

    Rs?

    Did it try to RampUp?

    If so, did it ID the Flux?  What about Ls?

    You are not being very descriptive.

    I do note that you should increase this value to 10% of your max frequency

    #define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)   

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Hi Chris,

    I have reinstaled the Motorware and started from scratch to capture the data as requested.

    Pl find enclosed the ppt capturing the info for both labs 2a & 2c.  This time around I captured the steps it has to follow.

    In both the labs the motor rotor did not initiate the rotation but I had to rotate it manually during rampup to give it a start.

    Could you pl review and suggest which parameter has to be addressed so that I could proceed further.

    thx & rgds

    labs_20140907.pptx
  • 0 in reply to KV
    TI__Guru** 119600 points

    per the documentation, if your motor doesn't start spinning during RampUp, increase

    #define USER_MOTOR_RES_EST_CURRENT      (0.5)

    and insure that

    #define USER_MOTOR_MAX_CURRENT          (3.0)

    is > USER_MOTOR_RES_EST_CURRENT 

  • 0 in reply to ChrisClearman
    TI__Guru** 119600 points

    If your motor is 500 Hz I would increase the EST_FREQ to about 50 Hz and try again

    #define USER_MOTOR_FLUX_EST_FREQ_Hz     (50.0)

    in your ppt you keep mentioning things like "Increased SpeedRef_krpm – to 0.05"...if you change the SpeedRef during ID it has no effect. It is running through a state machine for ID based on the USER_MOTOR settings only.

    Your Rs value is very different in many of your screenshots, which doesn't make sense. Once Rs is calculated it stays static for duration of the ID process.

    Please go through ID again and capture final values.  Also insure that the motor starts spinning during RampUp, and Speed_krpm is close to SpeedRef_krpm as RatedFlux state begins, and keeps spinning unitl RampDown.

  • 0 in reply to ChrisClearman
    Prodigy 110 points

    Hi,

    I have purchased  KIT DRV830X-HC-EVM REVD  , controlCARD(f28069) and practising InstaSPIN FOC lab exercises , but  the motor (PMSM sensorless) does not start . i don't no  exactly what is the lab projet in motorware 

    thanks

  • 0 in reply to FOLA fer
    TI__Guru** 119600 points

    1. confirm you have TMDSCNCD28069MISO which has the 69M device on the controlCARD

    2. What instructions / UG are you following?

    3. What SW are you using? 

    4. Are you following http://e2e.ti.com/support/microcontrollers/c2000/f/902/t/287352.aspx

  • 0 in reply to ChrisClearman
    Prodigy 110 points

    hello ,

    I HAVE drv8301-HC-EVM ki

  • 0 in reply to FOLA fer
    Prodigy 110 points

    1-place the control card in the connector slot of 1

    2-connect a usb cable to connector J1

    3- connect a power suplly 60V LED1 LED3 turn RUN

    i  am refer to DRV830X-HC-C2-KIT to load program PM-sensorless

    4- build program PM-sensorless (code composer studio 5.3.0

    5-  close code composer and i have start  instaspin-FOC at this moment i have LD2 LD3  red

  • 0 in reply to FOLA fer
    TI__Guru** 119600 points

    you are mixing software projects.

    FOLA fer said:
    i  am refer to DRV830X-HC-C2-KIT to load program PM-sensorless

    this is a controlSUITE based project that uses F28069 (note, no M) and SMO for sensorless FOC.

    C:\ti\controlSUITE\development_kits\DRV830x-HC-C2-KIT_v105

    InstaSPIN-FOC uses F28069M (note the M) and FAST for sensorless FOC. Instead of controlSUITE it uses MotorWare for software development.  It includes a demo gui:

    http://www.ti.com/tool/motorkitscncd69miso

  • 0 in reply to ChrisClearman
    Prodigy 110 points

    yes i have load a  PM-SENSORLESS program of controlsuite 

  • 0 in reply to FOLA fer
    TI__Guru** 119600 points

    that is NOT InstaSPIN-FOC

    follow

    C:\ti\controlSUITE\development_kits\DRV830x-HC-C2-KIT_v105\PM_Sensorless\~Doc

    you will need to enter some information about your motor...and it will be pretty tough to get it running.  I highly recommend purchasing TMDSCNCD28069MISO to use InstaSPIN-FOC and InstaSPIN-MOTION

  • 0 in reply to ChrisClearman
    Prodigy 110 points

    i am sorry i have used instaSPIN and instaSPIN-MOTION  notion instaSPIN -FOC.

    What are the steps  on code compser  studio before use instaSPIN-FOC and InstaSPIN-MOTION

  • 0 in reply to ChrisClearman
    Prodigy 110 points

    In controlSUITE i have DRV830X-HC-CE-KIT-V104 NOT V105

  • 0 in reply to FOLA fer
    TI__Guru** 119600 points

    you are not following.

    you can NOT use InstaSPIN-FOC or -MOTION and the controlSUITE projects with the same controlCARD.

    If you have the 69M card use InstaSPIN-FOC or -MOTION. Install MotorWare and run MotorWare.exe  There is ample documentation and I included a link above to a post about how to start development and which documents to follow.

    If you have the 69 card - update controlSUITE so that you have the latest version with v105 - and follow the documentation.  For using the 69 card you have to right click on the CCS project and switch build configuration to the 6x version.

  • 0 in reply to Albert MENDY
    Prodigy 140 points

    I have this error when I wanted  to rum PM_sensorless 

  • 0 in reply to Albert MENDY
    TI__Guru** 119600 points

    please start a new post on the C2000 forum. Your question has nothing to do with this thread (or even this InstaSPIN forum)

    http://e2e.ti.com/support/microcontrollers/c2000/default.aspx

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Dear Chris,

    Thanks for your suggestion. After increasing USER_MOTOR_RES_EST_CURRENT to 3 the motor started spinning independently. The bus voltage is 15.1V. Pl refer the attached ppt for the ID steps


    Now the Bus voltage is increased to rated 48V  However the LED6 fault glows the moment Run Indentify is changed to 1. Hence the identify process was not successful.  Probably the Rs / Ls > max frequency_Hz as mentioned by you. 

    Went back to lab 01 and started all over again.  As anticipated error message was displayed and LD2 was not blinking.  Pl review and suggest which parameter needs to be fine tuned for accommodating rated 48V bus voltage.

    thx

    labs_20140915.ppt
  • 0 in reply to KV
    TI__Guru** 119600 points

    options --> attach

    your user.h file please

  • 0 in reply to ChrisClearman
    Expert 1800 points

    enclosing user.h

    thx

    user.h
  • 0 in reply to KV
    TI__Guru** 119600 points

    #define USER_IQ_FULL_SCALE_FREQ_Hz        (55.0)

    this is wildly incorrect

    set this to slightly greater than the max Hz you want to run

    Hz = RPM * Poles / 120

    for your motor that is

    Hz = RPM / 3

    Even if you only want to run at 165 RPM (?) set to a minimum of (200.0)

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Hi Chris,

    As suggested the error message was avoided with #define USER_IQ_FULL_SCALE_FREQ_Hz        (300.0)

    Now the Bus voltage is increased to rated 48V  However the LED6 fault glows the moment Run Indentify is changed to 1. Hence the identify process was not successful.

    Its amazing that at lower voltages (12V & 24V) the identify process was smoother but at higher voltage its not.  Could you please suggest which parameter needs to be addressed.

    Pl do the needful.

    thx

  • 0 in reply to KV
    TI__Guru** 119600 points

    the DRV8301 chip is faulting for some reason.  What errors do you see reported in

    gDrvSpi8301Vars

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Hi Chris,

    Tried the Lab 2C again to capture the errors reported.  Pl find enclosed the ppt.  There are no errors reported though.  However please suggest.

    Request you to please review and suggest.

    thx & rgds

    labs_20140918.pptx
  • 0 in reply to KV
    TI__Guru** 119600 points

    your Rs_ohm value is essentially infinite. You have a bad connection with a motor phase wire.

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Hi Chris,

    Amazing.  The motor spins properly with 12V & 24V while with 48V it gets bad connection.  Also the same motor spins with Instaspin BLDC and 48V successfully.

    Not sure what could be the reason.  Any hints are welcome.

    thx

  • 0 in reply to KV
    TI__Guru** 119600 points

    you're saying that with 24Vdc bus everything works normally, but with 48Vbus the Rs identification goes infinite?  I can think of no reason why this would occur...your IQ_VOLTAGE value of (48.7) is fine.  Personally I'd just make it (48.0) but it shouldn't matter.

    If you have a programmable power supply you should try testing at 24V and then raise by 4V or so until it fails....maybe we can figure it out....but again, I can't think of any reason this could occur.

  • 0 in reply to ChrisClearman
    Expert 1800 points

    Hi Chris,

    Thanks for your help.  The motor is now spinning at 48V too.  Ran thru labs1 & 2 successfully.  With Lab 3a the motor spins if the enableuserparams is set to 0 but if its 1 it does not spin.  The Rs value stops at around 0.2 and it does not spin.

    Pl find attached the ppt and request you to guide me thru.

    thx & rgds

    labs_20140924.pptx
  • 0 in reply to KV
    TI__Guru** 119600 points

    KV,

    On the last slide, when you load from user.h with UserParams = 1 your Rs value is now 0.69 ohm.  I'm not sure if this is the value you saved in your user.h or if you enabled the flag for RsRecalc, but either way this is significantly different from the Rs value of 0.08 ohm that appears when you run the Motor ID with UserParams = 0 in the first few slides.

    That explains why your motor doesn't run.