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FOC control using Incremenal Encoder with DRV8301-69M-KIT

mrthunderous
Prodigy 230 points
Other Parts Discussed in Thread: DRV8301-69M-KIT

.Hi all,

I am working on Sensorless FOC Control of 3 Phase PMSM application note using with DRV8301-69M-KIT.  In LEVEL6B when ı use  qep elec theta instead estimated elec theta and qep speed instead of estimated speed, controller is not working. Motor speed enreasing continuously. PID controller is not follow speed ref value. What is the reason of this

Thanks.

  • 0
    TI__Guru** 118350 points
    several things to check

    1. the kit you have uses 69M controlCARD. This has special libraries in ROM to support InstaSPIN-FOC and InstaSPIN-MOTION solutions.
    a) I recommend you use InstaSPIN-MOTION if possible, it is superior and easier to get high performance servo control
    b) because these libraries are in ROM some of the ROM tables from a normal F28069 devices are in different locations. This means if you are trying to use a 69M device to run a project for 69 you may have to add the IQmath library to your project rather than rely on the project settings which probably use IQmath tables from ROM. But, I suspect you would have seen an issue from this on earlier build levels.

    2. Have you confirmed that the direction of your rotation matches the direction of rotation of the encoder? phase order is important with sensored control. Try switching any 2 phases of the motor connectors and see if that has a positive effect.