Spin Motor user variables

"Which one is doing what ?"
these are the duty cycles of the PWMs.

"in example of lab05a

I need to setup speed only of my Motor"

5a is torque control. In 5a you set an IqRef_A. This is clearly discussed in the InstaSPIN_labs.pdf document. Are you reading the instructions?

OK,

Let me know if I am correct:

1. In Order to calculate Ki(series), I can do the following:

  a. Measure my coil resistance  by calculation-> this is by supplying current into 2 phases - when the motor is in static mode and looking at the current  (I am not sure if this is accurate) -> So My R=U/I (which I is the measured current), and the voltage is from my power supply

2. I can measure My coil inductance with Inductance meter (I have pretty accurate one)

-- This enable me to find my Ki(series) pretty accurate I think

3. About Kp - I can use estimation of 10Khz (like in example), and calculate It with Ls*2pi*(10Khz/20)

4. In the main loop I see I need to get and set these parameters?

Also earlier labs -> shouldn't they show me these values by measuring actual parameters from Motor ?

When trying to change them  (Ki and Kp Manually) I got this:

And since The Motor is in close loop spinning perfectly so I can estimate that the values in the window are accurate.

BTW when running few times some of parameters change ..... (so measure is not the same....)

Now with these I need to set on Lab 5b the following: (on main proj_lab05b.c)

  gMotorVars.Flag_enableSys=1; //roee
  gMotorVars.Flag_Run_Identify = true; //roee
  gMotorVars.SpeedRef_krpm= 500;

This is not working

so I guess I need to setup something in the forever loop ?

By lab5b I need in the forever loop to get these parameters while spinning and set them again all the time:

By this:

Is this correct ?

Thanks,

roee

USER_calcPIgains shows how the current control gains are calculated and set

you shouldn't change them unless you have done a step response test and feel that they should be adjusted

the speed control gains are NOT calculated for you. a starting Kp and Ki are chosen simply based off the USER_MOTOR_MAX_CURRENT setting. You should do step response testing and tune these values to meet your application requirements.

so I don't get it

How come in Lab 2C My Motor is spinning OK

And Lab 5B which uses the same user.h file and I have added thes to main.c of the project (proj_lab05b.c)

gMotorVars.Flag_enableSys=1; //roee
gMotorVars.Flag_Run_Identify = true; //roee
gMotorVars.SpeedRef_krpm= 500;

My Motor doesn't start to spin ?

try this

gMotorVars.Flag_enableSys = 1; //roee
gMotorVars.Flag_enableUserParams = 1;
gMotorVars.Flag_Run_Identify = 1; //roee
gMotorVars.SpeedRef_krpm = _IQ(0.5);


before
for(;;)

You are expert!
Working
But the speed seems much lower than 500 RPM
What parameter I should play with now ?
Thanks!

OK
I see also that if I am changing my _IQ change my RPM changes according
Seems like number of Poles incorrect?
I have 6 poles in my Motor
I have chosen:
#define USER_MOTOR_NUM_POLE_PAIRS (3)
Since these are PAIR
Is this correct?
Or I should put 6 ?
Thanks
Roee

6 poles is 3 pairs
_IQ(0.5) will set a speed of 0.5 KRPM = 500 RPM

it is actually setting a frequency of 500 RPM * USER_MOTOR_NUM_POLE_PAIRS / 60 = 25 Hz

everything inside the algorithm is in electrical Hz. The RPM is just created from # of pole pairs to give you an RPM.

If you think it is low it could be you have # of poles incorrect, not enough voltage on the bus, or incorrect motor parameters

Thanks,
Ok
I have succeeded already to read my Potentiometer Value while spinning the motor.
But when I am trying to change Motor _IQ -> to change spinning speed it doesn't
Although I see that my reading are OK
Isn't it enough to write this in order to change spinning rotation:

if (gPotentiometer<0.1)
{
gMotorVars.SpeedRef_krpm = _IQ(1);
}
else
{
gMotorVars.SpeedRef_krpm = _IQ(2);
}

Do I need to do aditional thing while spinning to change spinning speed ?
BR,
Roee