Different motor startup delay

Sorry Chris for the late answer. I was ill the last few days.

my user.h: (how can I attach ?)

#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, DRV, and EST modules 
//!
//! (C) Copyright 2012, Texas Instruments, Inc.


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

#include "Framework/common/Target.h"

#if CPU_TI_F2806X

// 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"

#endif

//!
//!
//! \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
// StR: Assume maximum of 1200 RPM, 4 pole pairs motor --> 1200 * 4 / 60 = 80Hz --> Set to 100.0 Hz
#define USER_IQ_FULL_SCALE_FREQ_Hz        (100.0)   // 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
//! RoG 30.0 V
#define USER_IQ_FULL_SCALE_VOLTAGE_V      (30.0)   // 24.0 Example for drv8301_revd typical usage and the Anaheim 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       (36.3)      //RoG 36.3 - 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 
//! RG 15.0 A
//#define USER_IQ_FULL_SCALE_CURRENT_A          (16.5)   //RoG 16.5 - 41.25 Example for drv8301_revd typical usage
#define USER_IQ_FULL_SCALE_CURRENT_A          (28.0)   //RoG 16.5 - 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        (33.0)     //RoG 33.0 - 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
#if 0
#define   I_A_offset_3  (0.99682354)
#define   I_B_offset_3  (1.00883281)
#define   I_C_offset_3  (0.99177110)
#else
#define   I_offset_default (1.0024685857)
#endif

//! \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
#if 0
#define   V_A_offset_3   (0.4481710792)
#define   V_B_offset_3   (0.4474003315)
#define   V_C_offset_3   (0.4459259510)
#else
#define   V_offset_default (0.4471657872)
#endif

//! \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
//! RoG 30.0 kHz
#define USER_PWM_FREQ_kHz                (30.0) //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
//! RoG (2)
#define USER_NUM_PWM_TICKS_PER_ISR_TICK        (2)

//! \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
//! RoG (2)
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK  (2)    // 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
#ifdef FIELD_WEAKENING
/* Field weakening tests were done with -10A negative Id current */
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A     (-0.5 * USER_MOTOR_MAX_CURRENT)
#else
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A     (-1.0)   // -2.0 Example, adjust to meet safety needs of your motor
#endif

//! \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   (0.01)     // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz
//#define USER_ZEROSPEEDLIMIT   (0.004)     // 0.002 pu = 0.4 Hz = flow 0.06 < minimum flow 0.1
// (2 Hz) enable forced angle up to a speed of flow 1.2 to avoid wrong motor direction during low speed
#define USER_ZEROSPEEDLIMIT   (0.02)

//! \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            (1.0)      // 1.0 Typical force angle start-up speed

//! \brief Defines the maximum current slope for Id trajectory during EPL mode
//! \brief For Induction motors only, controls how fast Id input can change under EPL control
#define USER_MAX_CURRENT_SLOPE_EPL   (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, rad/sec^2
//! \brief Only used during Motor ID (commission)
#define USER_MAX_ACCEL_EST_Hzps           (5.0)         // 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 (0.5)      // 0.5 Default, don't change

//! \brief Defines the fraction of IdRated to use during inductance estimation
//!
#define USER_IDRATED_FRACTION_FOR_L_IDENT    (0.5)      // 0.5 Default, don't change

//! \brief Defines the IdRated delta to use during estimation
//!
#define USER_IDRATED_DELTA                  (0.0001)   // 0.0001 Default, don't change

//! \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 EPL (Efficient Partial Load) gain for computing Id reference
//! \brief Induction motors only
#define USER_EPL_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 SPAT_eckig_OurMotor			  101

//! \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 SPAT_eckig_OurMotor




#if (USER_MOTOR == SPAT_eckig_OurMotor)                	   // 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                   (0.5853825)    // Identified phase to neutral resistance in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Ls_d                 (0.0006006018) // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_Ls_q                 (0.0006006018) // For PM, Identified average stator inductance  (Henry, float)
#define USER_MOTOR_RATED_FLUX           (0.1507075)    // 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      (3.5)          // RoG 5.0 During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current
#define USER_MOTOR_IND_EST_CURRENT      (-2.0)         // During Motor ID, maximum current (negative Amperes, float) used for Ls estimation, use just enough to enable rotation
#ifdef FIELD_WEAKENING
/* Field weakening tests were done with 20A max current */
#define USER_MOTOR_MAX_CURRENT          (20.0)
#else
#define USER_MOTOR_MAX_CURRENT          (10.0)         // 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
#endif
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (20.0)         // During Motor ID, maximum commanded speed (Hz, float), ~10% rated

#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

#if CPU_TI_F2806X

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

#endif

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

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

The motor start sequence:

	CTRL_setFlag_enableUserMotorParams( ctrlHandle, true );

	/* Check if Motor has stopped.												*/
	if (state != REV_STATE_FORWARD &&
			state != REV_STATE_BACKWARD)
	{
		/* Enable forced angle for motor startup							*/
		EST_setFlag_enableForceAngle( ctrlObj->estHandle, true );
	}

	EST_setFlag_enableRsRecalc( ctrlObj->estHandle, true );
	CTRL_setFlag_enableCtrl( ctrlHandle, true );

Hi Achim,

It would be helpful to associate your phase currents with the timing issues you are describing.  Is it possible to share scope plots of your phase current to describe your timing issue?  Please refer to Chapter 6 of the InstaSPIN User's Guide to relate your observed timing and with the references plots provided.

Jeff

Thank you Jeff for your tip.

I measured the motorcurrent in the case of the error.

Here you can see that the forced angle is disabled too early.

I increased the zerospeedlimit. At the next scope plot you can see the same error case with increased zerospeedlimit:

Now i have to tune the zerospeedlimit to the minimum possible value.

Do you have an idea what minimum value can use ?

Here a scope plot of the motor current.

I suggest reading section: 14.4.2 Fastest Motor Startup with Full Load with Motor Alignment Considerations

From document: SPRUHJ1F

It gives you some tips to get motor started with load. The difference I notice right away is that you might need to remove the Id reference used for Rs recalibration very quickly when it goes into closed loop. This is described in subsection: 14.4.2.1 Maximize Current Slope

Also, I noticed that the load is pretty high compared to the current used for Rs recalibration. What this means is that you would need more current for Rs recalibration so that it also aligns the motor to angle of zero. I suggest you increase the value of USER_MOTOR_RES_EST_CURRENT to twice or even three times the value you have, so it actually aligns the motor.

Some other points are:

1. Enable forced angle only during the start up, and then disable it.

2. Do not change the value of USER_ZEROSPEEDLIMIT. If you are using MW15, make sure the values are:

#define USER_ZEROSPEEDLIMIT   (0.5 / USER_IQ_FULL_SCALE_FREQ_Hz)
#define USER_FORCE_ANGLE_FREQ_Hz   (2.0 * USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz)

I hope this helps.

-Jorge