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TMS320F28068M: How to tune up USER_FORCE_ANGLE_FREQ_Hz value to fit my InstaSPIN-Motion Enviroment

Part Number: TMS320F28068M

Hello, I am tuning and debugging USER_FORCE_ANGLE_FREQ_Hz value in lab10b based program.

In the past, I set up USER_FORCE_ANGLE_FREQ_Hz=1 as the default.
It took so much time to start up. So, I changed the value.

But I could not find the detailed information about USER_FORCE_ANGLE_FREQ_Hz value on the InstaSPIN UG.

The User Guide is mentioned to "Typically, less than 1 electrical cycle required to lock on angle".

Could you please tell me how to set up USER_FORCE_ANGLE_FREQ_Hz value to fit our InstaSPIN-Motion system?

My InstaSPIN-Motion Environment and settings are as follows;

 PMSM Motor Pole pair:  6

 Max RPM: 6500 rpm

 Max Accel: 120Krpm/s2

 Jerk:           750Krpm/s2

 Motion-Profile: TRAPEZOID  

 And the followings are the results of execuiting our lab10b. 

 USER_FORCE_ANGLE_FREQ_Hz = 70  -> Our motor did not spin.

 USER_FORCE_ANGLE_FREQ_Hz = 60  -> It spins

 USER_FORCE_ANGLE_FREQ_Hz = 50  -> It spins

Best regards,

ay0689

  • Had snaphotted any startup current waveform? The USER_FORCE_ANGLE_FREQ_Hz is set in user.h, don't set it to a large value, 1.0~2.0Hz is recommended for most motor.
    The startup time didn't depend on this value, you can change the acceleration or PI/SpinTAC regulator parameters to improve the startup time.
  • Hello Yanming-san,

    I took the waveforms as follows;

    As I mentioned before, Max accel is already max vale and although I tried to increase Jerk value,  the startup of motor was still failed.

     PMSM Motor Pole pair:  6

     Max RPM: 6500 rpm

     Max Accel: 120Krpm/s2

     Jerk:           750Krpm/s2

     Motion-Profile: TRAPEZOID  

    I think that we can not do anything about InstaSPIN-Motion settings for shortening the startup time.

    So, we should have to change this USER_FORCE_ANGLE_Hz value to solve this startup problem..

    If you have any idea to improve the startup problem by changing InstaSPIN-Motion parameters, please let me know.

     

    Best regards,

    ay0689