TMS320F28034: HVPM Sensorless in LEVLE4

Jack Tan80

Part Number: TMS320F28034

Dear Champs,

I'm currently running SPM motor by using HVPM sensorless project, LEVEL1 and LEVEL2 are run successfully.

But in LEVEL3&LEVEL4, if setting the pi_iq.Umax equals to _IQ(0.2); iq_fdbk is always less than iq_ref. When increase the pi_iq.Umax to _IQ(0.3), the iq_fdbk is not stable.

Here are the data when pi_iq.Umax = _IQ(0.2); the esmo.theta lagged behind the rg1.out, and iq_fdbk is always less than iq_ref.

Here are the data when pi_iq.Umax = _IQ(0.3), the motor get started to vibrate, and iq_fdbk is not stable.

Can you please help me on how to make the iq_fdbk get stable?

over 7 years ago

0 Yanming Luo over 7 years ago

TI__Guru** 114180 points

Since the level 3 is just a current closed-loop control without rotor position, you may tune the IqRef and SpeedRef to keep the motor running smoothly first, and then the park1.Qs should be close to IqRef if the pi_iq.Out is not limited to maximum setting, but the park1.Qs can't be stable to a linear since the angle is not precise for the motor is forcibly running in Level3, it seems like the output should be limited in your project, so the park1.Qs is less than IqRef . You may check it in the PI regulator object.

0 Jack Tan80 over 7 years ago in reply to Yanming Luo

Mastermind 7100 points

Hi Yanming,

Is there any guideline on how to tuning PI regulator in this case?

My motor could be run successfully in level3, how to tell the motor runs smoothly already?

0 Yanming Luo over 7 years ago in reply to Jack Tan80

TI__Guru** 114180 points

You may monitor the current using an oscilloscope, the current should be continuous and stable. It's difficult to have a detailed guide to show how to tune PI in a special case, just a general guide. You might refer to the section 11 of instaSPIN-FOC user's guide (SPRUHJ1G).

0 Jack Tan80 over 7 years ago in reply to Yanming Luo

Mastermind 7100 points

Thanks for sharing this info with me.

0 Jack Tan80 over 7 years ago in reply to Jack Tan80

Mastermind 7100 points

It seems that section 11 are all from Dave Wilson's blog --Teaching your pi controller to behave.

C2000™︎ microcontrollers

C2000 microcontrollers forum

TMS320F28034: HVPM Sensorless in LEVLE4