TMS320F28069M: torque controll lab11e

Do you want to implement torque control for full speed range, includes BLDC and FAST? If yes, you may follow below steps for torque control mode.

1. Change the flags setting for BLDC as below.
bool gHall_Flag_EnableStartup = true; // true->enable hall startup
//bool gHall_Flag_EnableStartup = false; // false->disable hall startup

//bool gHall_Flag_CurrentCtrl = false;
bool gHall_Flag_CurrentCtrl = true;

2. Add two global variables in project.
bool FS_flag_enableSpeedCtrl = false;
//bool FS_flag_enableSpeedCtrl = true;
_iq FS_Iq_ref_pu = _IQ(0.1);

3. Modify the code as below in mainISR()
// when appropriate, run the PID speed controller
if(FS_flag_enableSpeedCtrl == true)
{
if(pidCntSpeed++ >= USER_NUM_CTRL_TICKS_PER_SPEED_TICK)
{
// calculate Id reference squared
_iq Id_ref_squared_pu = _IQmpy(PID_getRefValue(pidHandle[1]),PID_getRefValue(pidHandle[1]));

// Take into consideration that Iq^2+Id^2 = Is^2
_iq Iq_Max_pu = _IQsqrt(gIs_Max_squared_pu - Id_ref_squared_pu);

// clear counter
pidCntSpeed = 0;

// Set new min and max for the speed controller output
PID_setMinMax(pidHandle[0], -Iq_Max_pu, Iq_Max_pu);

// run speed controller
PID_run_spd(pidHandle[0],TRAJ_getIntValue(trajHandle_spd),speed_pu, &speed_pid_out);

gIdq_ref_pu.value[1] = speed_pid_out;
}
}
else
{
gIdq_ref_pu.value[1] = FS_Iq_ref_pu;
}

4. Modify the HALLBLDC_Ctrl_Run() as below
void HALLBLDC_Ctrl_Run(void)
{
if(gHall_Flag_EnableStartup == true)
{
gHall_PwmState = gHall_PwmIndex[gHall_State];

if(_IQabs(speed_est_pu) < gHall_speed_FastToBldc_low_pu) // FAST to Hall
{
if(gHall_Flag_EnableBldc == false)
{
if(gHall_Bldc_Cnt > 20)
{
gHall_Flag_EnableBldc = true;
gHall_Bldc_Cnt = 0;

if(gHall_Flag_CurrentCtrl == true) // Torque Control Mode
{
// The following instructions load the parameters for the speed PI
// controller.
PID_setGains(pidHandle[0],_IQ(0.1),_IQ(0.005),_IQ(0.0));

// Set the initial condition value for the integrator output to 0
PID_setUi(pidHandle[3], _IQmpy(pid[2].Ui, gFast2Hall_Ui_coef));
}
else // Speed Control Mode
{
// The following instructions load the parameters for the speed PI
// controller.
PID_setGains(pidHandle[0],_IQ(0.1),_IQ(0.005),_IQ(0.0));

gHall_PwmDuty = pid[2].Ui;

// Set the initial condition value for the integrator output to 0
PID_setUi(pidHandle[0], _IQmpy(pid[2].Ui, gFast2Hall_Spd_coef));
}
}
else
gHall_Bldc_Cnt++;
}
}
else if(_IQabs(gHall_speed_fdb_pu) > gHall_speed_BldcToFast_high_pu) // Hall to FAST
{
if(gHall_Flag_EnableBldc == true)
{
if(gHall_Fast_Cnt > 20)
{
gHall_Flag_EnableBldc = false;
gHall_Fast_Cnt = 0;

if(gHall_Flag_CurrentCtrl == true) // Torque Control
{
// The following instructions load the parameters for the speed PI
// controller.
PID_setGains(pidHandle[0],_IQ(2.0),_IQ(0.02),_IQ(0.0));

// Set the initial condition value for the integrator output to 0, Id
PID_setUi(pidHandle[1],_IQ(0.0));

// Set the initial condition value for the integrator output to 0, Iq
PID_setUi(pidHandle[2], _IQmpy(pid[3].Ui, gHall2Fast_Ui_coef));

}
else // speed control
{
// The following instructions load the parameters for the speed PI
// controller.
PID_setGains(pidHandle[0],_IQ(2.0),_IQ(0.02),_IQ(0.0));

// Set the initial condition value for the integrator output to 0, speed
PID_setUi(pidHandle[0], _IQmpy(gHall_PwmDuty, gHall2Fast_Spd_Coef));

// Set the initial condition value for the integrator output to 0, Iq
PID_setUi(pidHandle[2], _IQmpy(gHall_PwmDuty, gHall2Fast_Iq_coef));

// Set the initial condition value for the integrator output to 0, Id
PID_setUi(pidHandle[1],_IQmpy(gHall_PwmDuty, _IQ(0.0)));
}

PWM_setSocAPulseSrc(hal.pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);

HAL_enablePwm(halHandle);
}
else
gHall_Fast_Cnt++;
}
}

if(gHall_Flag_EnableBldc)
{
angle_pu = angle_est_pu;
speed_pu = gHall_speed_fdb_pu;

if(gHall_Flag_CurrentCtrl == true) // Torque Control Mode
{
gHall_BLDC_Is_fdb_pu = gAdcData.I.value[gHall_BLDC_Flag_Is_fdb];

if(FS_flag_enableSpeedCtrl == true)
gHall_BLDC_Is_ref_pu = speed_pid_out;
else
gHall_BLDC_Is_ref_pu = FS_Iq_ref_pu;

// BLDC current loop
PID_run(pidHandle[3],gHall_BLDC_Is_ref_pu,gHall_BLDC_Is_fdb_pu,&gHall_PwmDuty);

HALLBLDC_Ctrl_PwmSet(gHall_PwmState, gHall_PwmDuty);
}
else // Speed Control Mode
{
gHall_PwmDuty = speed_pid_out;
HALLBLDC_Ctrl_PwmSet(gHall_PwmState, gHall_PwmDuty);
}
}
else
{
angle_pu = angle_est_pu;
speed_pu = speed_est_pu;
}
}
else //(gHall_Flag_EnableStartup == false)
{
angle_pu = angle_est_pu;
speed_pu = speed_est_pu;
}

return;
}

Thank you, that was it.