Hello!
I'm trying to make so that the motor begins in speed mode and after the wheel has began to rotate and identified its position then go over to torque mode. When the wheel is still and I i turn the potentiometer up to fast, then the motor starts vibrating and doesn't rotate. If I'm very careful with the potentiometer the wheel begins to rotate, but ramps up the speed way too fast.
I'm currently using lab5b,drv8301-kit and f28069MPZT controlCARD.
Here is my code for lab5b:
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//! \file solutions/instaspin_foc/src/proj_lab05b.c
//! \brief Adjusting the speed current controller
//!
//! (C) Copyright 2011, Texas Instruments, Inc.
//! \defgroup PROJ_LAB05b PROJ_LAB05b
//@{
//! \defgroup PROJ_LAB05b_OVERVIEW Project Overview
//!
//! Adjusting the supplied speed controller
//!
// **************************************************************************
// the includes
// system includes
#include <math.h>
#include "main.h"
#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif
// Include header files used in the main function
// **************************************************************************
// the defines
#define LED_BLINK_FREQ_Hz 5
// **************************************************************************
// the globals
uint_least16_t gCounter_updateGlobals = 0;
bool Flag_Latch_softwareUpdate = true;
CTRL_Handle ctrlHandle;
HAL_Handle halHandle;
USER_Params gUserParams;
HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};
HAL_AdcData_t gAdcData;
_iq gMaxCurrentSlope = _IQ(0.0);
_iq gPotentiometer = _IQ(0.0);
#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
CTRL_Obj ctrl; //v1p7 format
#endif
uint16_t gLEDcnt = 0;
volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;
#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
#endif
#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif
_iq gFlux_pu_to_Wb_sf;
_iq gFlux_pu_to_VpHz_sf;
_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;
_iq gTorque_Flux_Iq_pu_to_Nm_sf;
// **************************************************************************
// the functions
void main(void)
{
uint_least8_t estNumber = 0;
#ifdef FAST_ROM_V1p6
uint_least8_t ctrlNumber = 0;
#endif
// Only used if running from FLASH
// Note that the variable FLASH is defined by the project
#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files.
memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
#endif
// initialize the hardware abstraction layer
halHandle = HAL_init(&hal,sizeof(hal));
// check for errors in user parameters
USER_checkForErrors(&gUserParams);
// store user parameter error in global variable
gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);
// do not allow code execution if there is a user parameter error
if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
{
for(;;)
{
gMotorVars.Flag_enableSys = false;
}
}
// initialize the user parameters
USER_setParams(&gUserParams);
// set the hardware abstraction layer parameters
HAL_setParams(halHandle,&gUserParams);
// initialize the controller
#ifdef FAST_ROM_V1p6
ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber); //v1p6 format (06xF and 06xM devices)
controller_obj = (CTRL_Obj *)ctrlHandle;
#else
ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif
{
CTRL_Version version;
// get the version number
CTRL_getVersion(ctrlHandle,&version);
gMotorVars.CtrlVersion = version;
}
// set the default controller parameters
CTRL_setParams(ctrlHandle,&gUserParams);
// setup faults
HAL_setupFaults(halHandle);
// initialize the interrupt vector table
HAL_initIntVectorTable(halHandle);
// enable the ADC interrupts
HAL_enableAdcInts(halHandle);
// enable global interrupts
HAL_enableGlobalInts(halHandle);
// enable debug interrupts
HAL_enableDebugInt(halHandle);
// disable the PWM
HAL_disablePwm(halHandle);
#ifdef DRV8301_SPI
// turn on the DRV8301 if present
HAL_enableDrv(halHandle);
// initialize the DRV8301 interface
HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif
// enable DC bus compensation
CTRL_setFlag_enableDcBusComp(ctrlHandle, true);
// compute scaling factors for flux and torque calculations
gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();
for(;;)
{
// Waiting for enable system flag to be set
while(!(gMotorVars.Flag_enableSys));
// Enable the Library internal PI. Iq is referenced by the speed PI now
CTRL_setFlag_enableSpeedCtrl(ctrlHandle, true);
// loop while the enable system flag is true
while(gMotorVars.Flag_enableSys && gMotorVars.Flag_Run_Identify)
{
CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;
// increment counters
gCounter_updateGlobals++;
if(gMotorVars.Speed_krpm > _IQ(0.025))
CTRL_setFlag_enableSpeedCtrl(ctrlHandle, false); //Use Torque
else if (gMotorVars.Speed_krpm < _IQ(0.025) && gPotentiometer > _IQ(0.0))
CTRL_setFlag_enableSpeedCtrl(ctrlHandle, true); //Use Speed
// enable/disable the use of motor parameters being loaded from user.h
CTRL_setFlag_enableUserMotorParams(ctrlHandle,gMotorVars.Flag_enableUserParams);
// enable/disable Rs recalibration during motor startup
EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars.Flag_enableRsRecalc);
// enable/disable automatic calculation of bias values
CTRL_setFlag_enableOffset(ctrlHandle,gMotorVars.Flag_enableOffsetcalc);
if(CTRL_isError(ctrlHandle))
{
// set the enable controller flag to false
CTRL_setFlag_enableCtrl(ctrlHandle,false);
// set the enable system flag to false
gMotorVars.Flag_enableSys = false;
// disable the PWM
HAL_disablePwm(halHandle);
}
else
{
// update the controller state
bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);
// enable or disable the control
CTRL_setFlag_enableCtrl(ctrlHandle, gMotorVars.Flag_Run_Identify);
if(flag_ctrlStateChanged)
{
CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);
if(ctrlState == CTRL_State_OffLine)
{
// enable the PWM
HAL_enablePwm(halHandle);
}
else if(ctrlState == CTRL_State_OnLine)
{
if(gMotorVars.Flag_enableOffsetcalc == true)
{
// update the ADC bias values
HAL_updateAdcBias(halHandle);
}
else
{
// set the current bias
HAL_setBias(halHandle,HAL_SensorType_Current,0,_IQ(I_A_offset));
HAL_setBias(halHandle,HAL_SensorType_Current,1,_IQ(I_B_offset));
HAL_setBias(halHandle,HAL_SensorType_Current,2,_IQ(I_C_offset));
// set the voltage bias
HAL_setBias(halHandle,HAL_SensorType_Voltage,0,_IQ(V_A_offset));
HAL_setBias(halHandle,HAL_SensorType_Voltage,1,_IQ(V_B_offset));
HAL_setBias(halHandle,HAL_SensorType_Voltage,2,_IQ(V_C_offset));
}
// Return the bias value for currents
gMotorVars.I_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Current,0);
gMotorVars.I_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Current,1);
gMotorVars.I_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Current,2);
// Return the bias value for voltages
gMotorVars.V_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Voltage,0);
gMotorVars.V_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Voltage,1);
gMotorVars.V_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Voltage,2);
// enable the PWM
HAL_enablePwm(halHandle);
}
else if(ctrlState == CTRL_State_Idle)
{
// disable the PWM
HAL_disablePwm(halHandle);
gMotorVars.Flag_Run_Identify = false;
}
if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
(ctrlState > CTRL_State_Idle) &&
(gMotorVars.CtrlVersion.minor == 6))
{
// call this function to fix 1p6
USER_softwareUpdate1p6(ctrlHandle);
}
}
}
if(EST_isMotorIdentified(obj->estHandle))
{
// set the current ramp
EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope);
gMotorVars.Flag_MotorIdentified = true;
// set the speed reference
CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);
/*
if (gPotentiometer)
{
if (!obj->flag_enableCurrentCtrl)
CTRL_setFlag_enableCurrentCtrl(ctrlHandle,true);
CTRL_setSpd_ref_krpm(ctrlHandle,gPotentiometer);
}
else
{
CTRL_setFlag_enableCurrentCtrl(ctrlHandle,false);
CTRL_setSpd_ref_krpm(ctrlHandle,_IQ(0.0));
}
*/
// set the speed acceleration
CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));
if(Flag_Latch_softwareUpdate)
{
Flag_Latch_softwareUpdate = false;
USER_calcPIgains(ctrlHandle);
// initialize the watch window kp and ki current values with pre-calculated values
gMotorVars.Kp_Idq = CTRL_getKp(ctrlHandle,CTRL_Type_PID_Id);
gMotorVars.Ki_Idq = CTRL_getKi(ctrlHandle,CTRL_Type_PID_Id);
gMotorVars.Kp_spd = CTRL_getKp(ctrlHandle,CTRL_Type_PID_spd);
gMotorVars.Ki_spd = CTRL_getKi(ctrlHandle,CTRL_Type_PID_spd);
}
}
else
{
Flag_Latch_softwareUpdate = true;
// the estimator sets the maximum current slope during identification
gMaxCurrentSlope = EST_getMaxCurrentSlope_pu(obj->estHandle);
}
// when appropriate, update the global variables
if(gCounter_updateGlobals >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
{
// reset the counter
gCounter_updateGlobals = 0;
updateGlobalVariables_motor(ctrlHandle);
}
// update Kp and Ki gains
updateKpKiGains(ctrlHandle);
gPotentiometer = HAL_readPotentiometerData(halHandle);
// enable/disable the forced angle
EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars.Flag_enableForceAngle);
// enable or disable power warp
CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);
#ifdef DRV8301_SPI
HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);
HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
#endif
} // end of while(gFlag_enableSys) loop
// disable the PWM
HAL_disablePwm(halHandle);
// set the default controller parameters (Reset the control to re-identify the motor)
CTRL_setParams(ctrlHandle,&gUserParams);
gMotorVars.Flag_Run_Identify = false;
} // end of for(;;) loop
} // end of main() function
interrupt void mainISR(void)
{
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
// setup the controller
CTRL_setup(ctrlHandle);
return;
} // end of mainISR() function
void updateGlobalVariables_motor(CTRL_Handle handle)
{
CTRL_Obj *obj = (CTRL_Obj *)handle;
// get the speed estimate
gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);
// get the real time speed reference coming out of the speed trajectory generator
gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));
// get the torque estimate
gMotorVars.Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf, gTorque_Ls_Id_Iq_pu_to_Nm_sf);
// get the magnetizing current
gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);
// get the rotor resistance
gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);
// get the stator resistance
gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);
// get the stator inductance in the direct coordinate direction
gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);
// get the stator inductance in the quadrature coordinate direction
gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);
// get the flux in V/Hz in floating point
gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);
// get the flux in Wb in fixed point
gMotorVars.Flux_Wb = USER_computeFlux(handle, gFlux_pu_to_Wb_sf);
// get the controller state
gMotorVars.CtrlState = CTRL_getState(handle);
// get the estimator state
gMotorVars.EstState = EST_getState(obj->estHandle);
// Get the DC buss voltage
gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));
return;
} // end of updateGlobalVariables_motor() function
void updateKpKiGains(CTRL_Handle handle)
{
if((gMotorVars.CtrlState == CTRL_State_OnLine) && (gMotorVars.Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate == false))
{
// set the kp and ki speed values from the watch window
CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars.Kp_spd);
CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars.Ki_spd);
// set the kp and ki current values for Id and Iq from the watch window
CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars.Kp_Idq);
CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars.Ki_Idq);
CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars.Kp_Idq);
CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars.Ki_Idq);
}
return;
} // end of updateKpKiGains() function
void updateIqRef(CTRL_Handle handle)
{
gMotorVars.IqRef_A = gPotentiometer;
_iq iq_ref = gMotorVars.IqRef_A;
//gMotorVars.IqRef_A = gAdcData.pot;
//_iq iq_ref = _IQmpy(gMotorVars.IqRef_A,_IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A));
//_iq iq_ref = _IQmpy(gAdcData.pot,_IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A));
//gMotorVars.IqRef_A = iq_ref;
// set the speed reference so that the forced angle rotates in the correct direction for startup
if(_IQabs(gMotorVars.Speed_krpm) < _IQ(0.01))
{
if(iq_ref < _IQ(0.0))
{
CTRL_setSpd_ref_krpm(handle,_IQ(-0.01));
}
else if(iq_ref > _IQ(0.0))
{
CTRL_setSpd_ref_krpm(handle,_IQ(0.01));
}
}
// Set the Iq reference that use to come out of the PI speed control
CTRL_setIq_ref_pu(handle, iq_ref);
return;
} // end of updateIqRef() function
//@} //defgroup
// end of file
