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TMS320F28054F: Motor startup problems

Masky
Intellectual 900 points
Part Number: TMS320F28054F


Hi everyone,

 

I have some problems with Instaspin-FOC and motor startup. My setup is as follow:

 

  • Microcontroller TMS320F28054F.
  • Own hardware design.
  • PMSM motor (attached user.h).
  • Offset recalibration disabled (I did once and the voltage and current offset values were update into the user.h).
  • Rs recalibration enabled.
  • Force angle enable when (fabs(gMotorVars.Speed_krpm) > _IQ(0.06)). Disable in other case.
  • Speed control mode.
  • In the main loop I get the gTorque_Nm = EST_getTorque_Nm(obj->estHandle). If this value is bigger than 1.0Nm, I stall the motor (it is a security level).

 

The problem is as follow…sometimes, when the motor is stopped and the speed reference is set to 40rpm, with MaxAccel_krpmps=_IQ(0.06), gTorque_Nm if bigger than 1Nm, no matter the load is applied to the shaft, and the motor doesn’t spin. In parallel, the torque is measured with a torque sensor and the torque real value is far from 1Nm.

 

I tried to work with the force angle always enable and the opposite, and the problem is still there.

 

Any help will be appreciate. Thank you in advance.        4645.user.h

  • 0
    Intellectual 900 points

    In the attached picture, I have measured the input current, where the torque rises up to 1Nm for two times (let me say the load to the motor shat is quite low). The way to recover the system is reset the Flag_Run_Identify and Flag_enableSys, or persist until the motor spins.

    To clary, I get the torque value as follow:

    gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();
IThyMotor.gTorque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf, gTorque_Ls_Id_Iq_pu_to_Nm_sf);

    In order to solve the problem, I think I could disable the torque protection until the speed is over a XX rpm, but so far I prefer to find the real problem.

  • 0 in reply to Masky
    Prodigy 100 points
    Hi masky,

    have you tried to simulate your system? I work for PSIM and we have just released co-simulation and embedded code generation functionality that will allow you to simulate your system with InstaSPIN which should enable you to quickly track the problem down. I am happy to help get you started.

    please have a look at the archived webinar I hosted on the subject powersimtech.com/.../
    and at the youtube video i've made. https://youtu.be/tuPLthVT-Ow
  • 0 in reply to Albert Dunford
    Intellectual 900 points
    Hi Albert,

    first of all thank you for your replay. The SW looks like really nice, I will see the videos and I'll let you know if I have some doubt.

    In any case,I guess the learning curve for the SW won't be as quickly as I need, so I'm in an urgent moment. Please, someone could give me an advice in order to solve the problem asap?

    Any help would be appreciate.