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INSTASPINFOCMOTORWAREGUI: Instaspin angle sign

Javier Vara
Expert 1635 points
Part Number: INSTASPINFOCMOTORWAREGUI


Hello,

We have developed an inverter that can work both from sensored motor (encoder) and sensorless using Instaspin. So far we have tested the system and it works in both cases, however I have the following question.

When I read the electrical angle from instspin (using EST_getAngle_pu) I get a value that varies between 0 and 1 for clockwise movement and from 0 to -1 for anti clockwise.

If I read the electrical angle from the encoder (using ENC_getElecAngle) I always get a value that varies between 0 and 1 no matter what direction the motor is spinning.

How can the control algorithm cope with both cases and still work?. Would it mean that when running anticlockwise with the encoder I would be running the motor out of phase? Does the sign make any difference in the controller? Should I modify the encoder angle so that it is negative when running anti clockwise?

Thanks,

Javier

  • 0
    TI__Guru** 116140 points
    You don't need to change anything. For instaSPIN-FOC, the angle is increase from _IQ(0.0) to _IQ(1.0) for clockwise direction, decrease from _IQ(0.0) to _IQ(-1.0) for anti-clockwise direction. For instaSPIN-Motion, the angle is increase from _IQ(0.0) to _IQ(1.0) for clockwise direction, decrease from _IQ(1.0) to _IQ(0.0) for anti-clockwise direction.