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Lab5a tuning question

Shay Stockstad
Prodigy 240 points

Other Parts Discussed in Thread: MOTORWARE

From lab4 I'm able to find the Iq_ref value that spins up the motor, is this the value of Iq_ref that I need to adjust my Kp value in lab5a at?  I understand the tuning method of lab5a but I don't see anything in lab5a that says what value the Iq_ref should be.  

  • 0
    TI__Guru** 119680 points
    in 5a it's the same lab but you now have access to the current gains. the values pre-populated (based on the calculations in the documentation) will work well - assuming the motor ID worked correctly.

    if you want to check the tuning and potentially change the tuning of the current controller you should do a step response on the currents. This is challenging to do while in torque mode, so in the next version of MotorWare we are including lab05h which shows you how to tune the current loop while in speed control mode by doing a step response on Id. It also shows you how to use the CCS graphing tools.

    we are trying to release MW 17 end of this month