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TMS320F28027F: InstaSPIN - Speed and Acceleration Limiting while using Torque Control

Asif Ahmed
Expert 1570 points
Part Number: TMS320F28027F
Other Parts Discussed in Thread: MOTORWARE

Hello -

Are there any helpers built into Motorware that would allow me to enable speed and acceleration limiting while using torque control? I want to command IqRef_A, but have motor acceleration limited like when using speed control. Also, when the motor reaches a predefined speed I want to stop adding any more torque (chop).

Any insight is appreciated.

Thanks,

-asifjahmed

  • 0
    TI__Guru** 115440 points
    You can enable speed close loop, set the reference speed is your maximum motor speed in speed PI regulator, the maximum output of speed PI is your expected torque current, and set the speed acceleration as you want.
  • 0 in reply to Yanming Luo
    Expert 1570 points

    Hi Yanming -

    I'm not sure I understand your response. What you describe sounds like using the speed control loop. My questions specifically entail not using the speed control loop, as I want to request torque (IqRef_A). However, I want to limit the acceleration of the motor, as well as the maximum speed.

    Please advise.

    -asifjahmed

  • 0 in reply to Asif Ahmed
    TI__Guru** 115440 points
    Not a real speed close loop, just to use it to implement speed and acceleration limitation.

    The outMin and outMax of speed PI is torque current you set, the reference value of speed PI is always the output from speed trajectory output, the feedback value of speed PI is the real motor speed, the target value for the trajectory is the limited speed you expected.

    The reference torque current is the value you set if the motor speed is less than the limited speed, and worked in torque mode.

    The reference torque current is the value of the speed PI output if the motor speed is greater than the limited speed, and worked in speed mode.
  • 0 in reply to Yanming Luo
    Expert 1570 points

    Thanks, Yanming - I understand what you are proposing now!

    How do I go about using the speed PI controller without having it feed the IqRef_A? Can I disable the speed controller (CTRL_setFlag_enableSpeedCtrl(ctrlHandle, false);) and still use it for this purpose? Or do I have to create another speed and trajectory PI loop?

    Thanks Yanming, I think what you are proposing is exactly what I need. Any tips on how to actually implement this (using lab 5a, 5b, or 10a)?

    Much appreciated!

    -asifjahmed