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LAUNCHXL-F28069M: LAUNCHXL-F28069M

Andrew Wenaus
Intellectual 675 points
Part Number: LAUNCHXL-F28069M
Other Parts Discussed in Thread: DRV8305, MOTORWARE, DRV8301, CONTROLSUITE,

Hello! 

I'm hoping to find some clarification on the Motor Control application with this launchpad. I'm doing a relatively small scale Line-Following Robot that will read IR sensors and then adjust the PWM of one of the two motors in order to stay in the center of the line. The motors have Hall-Effect Encoders that I will be feeding to the launchpad, and from what I understand, I should be using Sensored-FOC. I really only have about a week to get the motor control working before we may have to move on to a different microcontroller.

I'm wondering if a week is enough time to figure this out? I'm willing to read up on information, but I do feel like this may be a beyond my experience. Although, I would absolutely love to figure this out!

To start, after downloading motorware, it appears that the Picollo F28069M uses instaSPIN-MOTION but then it gives options for 'boostxl_drv8301_revB', 'boostxl_drv8305_revA', 'drv8312kit_revD', etc. Do I need any of those?

How exactly does instaSPIN, ePWM, HRPWM work together for this application?

I understand I'll be feeding the Encoder to the eQEP peripherals which will provide angular velocity feedback, but how exactly do we use the feedback to adjust the PWM for the individual motors?

I'm sorry for all the questions, but I'm having trouble seeing through all the fog on this situation. Is there a good example project that could run me through all this? Or if someone could pinpoint the topics I should be reading, that would really be greatly appreciated!

Thank for your time! And again, sorry for all the questions!

  • 0
    TI__Guru** 114200 points
    1. LaunchXL-F28069 needs BoostXL-8301 or BoostXL-8305 to implement motor drive, the BoostXL-8301 or BoostXL-8305 is the power inverter for motor drive, the LaunchXL-F28069 is the controller with instaSPIN-FOC or instaSPIN-Motion algorithm.
    2. The lab project shows how to use ePWM and ADC to drive a motor using sensorless-FOC or sensored-FOC, more detailed description can be found in lab guide or instaSPIN user guide. The instaSPIN algorithm can help you to SPIN the motor well in a short time, even several minutes.
    3. You can connect the encoder to EQEP module if its output signal is right for QEP. There is a function to convert the eQEP signal to angle and velocity in example project.
    4. You may refer to lab12b if you only need velocity control with sensored-FOC, or refer to lab13b if you need position control. You must run first lab02c and lab 12a to identify the motor parameters and inertia.

    You may find the instaSPIN lab guide in a folder of motorware as below, and download "InstaSPIN-FOC and InstaSPIN-MOTION User's Guide" from TI website to know more about instaSPIN. A week is enough to SPIN the motor for you.
    C:\ti\motorware\motorware_1_01_00_18\docs\labs
  • 0 in reply to Yanming Luo
    Intellectual 675 points

    " LaunchXL-F28069 needs BoostXL-8301 or BoostXL-8305 to implement motor drive"

    After some research, it appears this is the case for a 3 phase motor. What about a brushless DC motor? Specifically this one (www.robotshop.com/.../12v-dc-motor-251rpm-encoder.html)! If we don't need the inverter, can we just use a regular H-bridge driver?

    Everything else seems alright! Thank Yanming!

    edit: After reading more about this, is this launchpad suitable for a brushless DC motor? If it is, do the same labs apply? Is there anything else I should know?

    In the end, if I can just have PWM control to each motor, then I could sort out the rest.

  • 0 in reply to Yanming Luo
    Intellectual 675 points
    " LaunchXL-F28069 needs BoostXL-8301 or BoostXL-8305 to implement motor drive"

    After some research, it appears this is the case for a 3 phase motor. What about a brushless DC motor? Specifically this one (www.robotshop.com/.../12v-dc-motor-251rpm-encoder.html)! If we don't need the inverter, can we just use a regular H-bridge driver?

    Everything else seems alright! Thank Yanming!

    edit: After reading more about this, is this launchpad suitable for a brushless DC motor? If it is, do the same labs apply? Is there anything else I should know?

    In the end, if I can just have PWM control to each motor, then I could sort out the rest.
  • 0 in reply to Andrew Wenaus
    TI__Guru** 114200 points
    Right, it is 3 half-bridge inverter, and is used for 3-phase motor, like 3-phase PMSM, 3-phase Brushless DC motor(BLDC).. You can use it for a Brush DC motor also with only using 2 half-bridge, but the instaSPIN-FOC in motorWare can only be used to spin the 3-phase PMSM/BLDC/ACI.
  • 0 in reply to Yanming Luo
    Intellectual 675 points
    Ah damn! Just so confirm, this microcontroller isnt a good choice for our application (brushless DC motor), and if thats true, could you recommend a microcontroller for PWM control on a Brushless DC Motor? Ideally, if it could be an MSP430, that'd be great!
  • 0 in reply to Andrew Wenaus
    TI__Guru** 114200 points
    C2000 device can be use for all motors drive which include ACI, PMSM, BLDC or BDC, and the F28069 can be also used for your application. You may refer to the BDC example project in the folder as below if you install controlSUITE.
    C:\ti\controlSUITE\development_kits\DRV8412-C2-KIT_v131
    I am confused the "a Brushless DC Motor" you mentioned. Often, I think a Brushless DC Motor is a 3-phase motor, it's similar to 3-phase PMSM.

    And you may have a look at the link as below, which has a brief introduction on the motor control.
    www.ti.com/.../index.shtml
    www.ti.com/.../slyb165i.pdf
  • 0 in reply to Yanming Luo
    Intellectual 675 points
    I see! The link you posted goes to a kit that is $375! That's too much for our budget. I think I'll just aim to figure it out ourselves, as long as we can get a simple, controllable PWM signal from a pin!
  • 0 in reply to Andrew Wenaus
    TI__Guru** 114200 points
    You may refer to the example project to know the BDCM drive based C2000 device, and you may port the code to the LaunchXL-F28069M. And you can find more motor drive device in slyb165i.pdf for BDCM, these devices only need a PWM or analog signal to set the target torque or speed.