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DRV8301-69M-KIT: Sensorless position control/tracking

Elliott Partridge
Prodigy 195 points
Part Number: DRV8301-69M-KIT

I am evaluating InstaSPIN for doing position tracking on a small motor using the DRV8301-69M-KIT board.  This application requires a motion profile of something like hold, spin several revs, hold, spin back to original position, and repeat forever.  I have worked through the labs (particularly up through 5e) and got it spinning with decent velocity performance and holding at zero speed.  However, I would like to be able to do position tracking & control to more-precisely achieve our motion profile.  Is this an expected use-case for InstaSPIN with a sensorless drive?

I've attempted lab 21 (HFI + IPD), but am just getting oscillations out of the drive.  Are there any pointers for how to proceed on this?

This thread demonstrates a privately-developed system that achieves performance similar to what I'm looking for.

  • 0
    TI__Genius 17175 points
    InstaSPIN-MOTION supports position loop control and is available on the F28069M device starting on lab06a. I would suggest working through to that lab writeup and seeing if it can provide the profile your solution needs

    Sean
  • 0 in reply to Sean Bigley
    Prodigy 195 points
    Lab06a deals with a velocity control loop and trajectory planning. I realize that position can be derived from integrated velocity, but how do the SpinTAC Move/Velocity controllers directly constrain position?
  • 0 in reply to Elliott Partridge
    TI__Genius 17175 points
    SpinTAC position profile (MOVE) is essentially a proprietary set of s- and st-curve curves that use the user-entered velocity, acceleration, deceleration and jerk limits to generate the motion profile. It does require sensored inertia identification though, so it does not exactly fit the original bill you asked about for sensorless. Sensorless motion control is typically difficult to implement with a lot of "tweaking" needed to achieve accurate control. InstaSPIN does not have a sensorless position loop option, only sensored through InstaSPIN-MOTION

    Sean
  • 0 in reply to Sean Bigley
    TI__Genius 17175 points
    If there are no more questions on this topic, I will close the thread for now

    Sean