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Dual motor torque controller on Launchpadxls F28069M

Christian Jacobsen
Prodigy 10 points
Other Parts Discussed in Thread: MOTORWARE

Hello,

thank you for providing the motorware solutions. 

I'm trying to run the two motor examples and it works fine in speed control mode (lab12c). Now i would try something with a torque controller. I've read that the speed controller is only a higher controller for the included torque controller.

Is there an easy way to change the speed controller form lab12c to a torque controller?

I use the two motors to eliminate the gear backlash. For breaking i will run booth motors at the same gear and one of them with an inverse torque to the other. For rotating i will only change the ratio of torque. I hope that when both motor have set the same torque but different directions that they don't move.

Thanks in advance.

  • 0
    TI__Guru** 118760 points
    I suggest looking at 5b (speed control) and 5a (torque mode). Essentially you turn off the speed control input to the torque controller, and just provide an IqRef_A as an input (you also need to provide a speedref with a sign that matches your IqRef_A sign so that the direction portion of the estimator works). You will see this in 5b code.

    for the dual motor, you can add this to 12c for one motor.

    if you want both motors to run in torque mode it may be simpler to make these changes to 11d