Other Parts Discussed in Thread: BOOSTXL-DRV8301
Hi,
i am having some issues again. Attached I will give some System-info and my user.h
1. I can't reach the maximum Speed of the motor. When I use a RC-Controller the Motor accelerates the vehicle to 24km/H(700RPM). My application, using the BOOSTXL-DRV8301, only reaches 18km/h.(~550RPM). I think the Motor has enough power to do 24km/h but maybe there is wrong setting in my software?
2. Current issues. I tuned my BOOSTXL--DRV8301. I change the SHUNT-Resistors to 5mOhm to detect a higher current. We are cooling the MOSFets to prevent Overheating. I Changed the following Values in the user_j1.h
#define USER_ADC_FULL_SCALE_CURRENT_A (66.0) ( 33A positive to 33A negative can be detectet right?)
#define USER_IQ_FULL_SCALE_CURRENT_A (50.0) (Here i am not sure if this mins -25A to 25A or -50A to 50A ? )
When i apply a high-currrent on low speed the Motor doesn't accelerate. It seems to move for- and backwards and brakes the vehicle. It seems like i have current detection issue or any overcurrent-lockout?
3. I want to use active Braking. That means, that i want to brake motor by using power and NOT generating power. How can I do this? I realized it with a negative Iq_ref AND negative Id_ref when i was playing a bit with the values. Would this be a safe way? Is there a better way to user Power to break the Motor. But as the Kinetik Energy has to go anywhere, does this result in a lot of heat?
Sorry fory this amount of questions :D
Thanks in Advance
Best Regards
Sebastian
Motor: 30poles,730RPM max, 15A max, 12NM max DC-BUS Voltage is 24V
Application: I am usind a Speed-Controller, where the User is changing the output-limits of the Speed-PID. The Speed-Pid is allways set to a maximum Speed. In fact its a Speed-limited Torque-Control. Also i am using flystart with a minimum Speeed of 50RPM. When User neither demands Torque nor negative Torque, the Iq_ref is 0.0 .
User.h:
#define USER_IQ_FULL_SCALE_FREQ_Hz (500) //720RPM*30poles /120=180
#define USER_IQ_FULL_SCALE_VOLTAGE_V (24.0) // 21V to 25,2V possible...problem?
#define USER_ADC_FULL_SCALE_VOLTAGE_V (26.314) // 26.314 boostxldrv8301_revB voltage scaling
#define USER_IQ_FULL_SCALE_CURRENT_A (50.0) // Changd Current shunt
#define USER_ADC_FULL_SCALE_CURRENT_A (66.0) // Changed Current *** to 5mOhm
#define USER_NUM_CURRENT_SENSORS (3) // 3 Preferred setting for best performance across full speed range, allows for 100% duty cycle
#define USER_NUM_VOLTAGE_SENSORS (3) // 3 Required
#define I_A_offset (0.8336265683)
#define I_B_offset (0.8330016136)
#define I_C_offset (0.8242590427)
#define V_A_offset (0.4892043471)
#define V_B_offset (0.4888140559)
#define V_C_offset (0.4878702164)
#define USER_PWM_FREQ_kHz (60.0) //30.0 Example, 8.0 - 30.0 KHz typical; 45-80 KHz may be required for very low inductance, high speed motors
#define USER_MAX_VS_MAG_PU (0.5) // Set to 0.5 if a current reconstruction technique is not used. Look at the module svgen_current in lab10a-x for more info.
#define USER_NUM_PWM_TICKS_PER_ISR_TICK (3)
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK (1) // 2 Example, controller clock rate (CTRL) runs at PWM / 2; ex 30 KHz PWM, 15 KHz control
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK (1) // 1 Typical, Forward FOC current controller (Iq/Id/IPARK/SVPWM) runs at same rate as CTRL.
#define USER_NUM_CTRL_TICKS_PER_EST_TICK (1) // 1 Typical, FAST estimator runs at same rate as CTRL;
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK (15) // 15 Typical to match PWM, ex: 15KHz PWM, controller, and current loop, 1KHz speed loop
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK (15) // 15 Typical to match PWM, ex: 10KHz controller & current loop, 1KHz speed loop, 1 KHz Trajectory
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A (-0.5 * USER_MOTOR_MAX_CURRENT) // -0.5 * USER_MOTOR_MAX_CURRENT Example, adjust to meet safety needs of your motor
#define USER_R_OVER_L_EST_FREQ_Hz (100) // 300 Default
#define USER_ZEROSPEEDLIMIT (0.5 / USER_IQ_FULL_SCALE_FREQ_Hz) // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz
#define USER_FORCE_ANGLE_FREQ_Hz (2.0 * USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz) // 1.0 Typical force angle start-up speed
#define USER_VOLTAGE_FILTER_POLE_Hz (364.682) // 364.682, value for boostxldrv8301_revB hardware
