Hello all,
We are suffering from bad reverse switch. We are using the TMS320f28069 to control a motor on a fixed wing plane.
Setup :
- We are in positive rotation way.
- We want to switch to reverse (negative rotation way), but with a torque against this move (torque tries to make it spinning in positive way, created by the wind on the propeller)
- When crossing zero, command continues to negative value as expected, but the propeller stays stucked at 0RPM. So Iq command increases to the maximum, motor heats
- During this phase, acceleration is reduced a little compared to a nominal rotation phase (reduced to 6.5kRPM/s).
Here are our parameters (Vbus = 17V, see attached).
How can we improve this behavior and avoid this very annoying state ?
Are there some settings we absolutely have to modify (Rs estimation, offset estimation..)
(our code is based on TI labs)
Thanks for your help, best regards
#define USER_MOTOR_TYPE MOTOR_Type_Pm #define USER_MOTOR_NUM_POLE_PAIRS (7) #define USER_MOTOR_Rr (NULL) #define USER_MOTOR_Rs (0.0183003172) //0.0203604233 #define USER_MOTOR_Ls_d (4.48583978e-06) //6.38452002e-06 #define USER_MOTOR_Ls_q USER_MOTOR_Ls_d //6.38452002e-06 #define USER_MOTOR_RATED_FLUX (0.00347099616) //0.00346262357 #define USER_MOTOR_MAGNETIZING_CURRENT (NULL) #define USER_MOTOR_RES_EST_CURRENT (4.0) //Peak of the current used during initial startup of the motor #define USER_MOTOR_IND_EST_CURRENT (-USER_MOTOR_RES_EST_CURRENT) //For PMSM motors this value can be set to the negative of the current used for USER_MOTOR_RES_EST_CURRENT. #define USER_MOTOR_MAX_CURRENT (60.0) #define USER_MOTOR_FLUX_EST_FREQ_Hz (150.0) //#define USER_MOTOR_ENCODER_LINES (1.0) // Number of lines on the motor's quadrature encoder #define USER_MOTOR_MAX_SPEED_KRPM (15.0) // Maximum speed that the motor #define USER_SYSTEM_INERTIA (0.344324) // 0.02 default. Inertia of the motor & system, should be estimated by SpinTAC Velocity Identify #define USER_SYSTEM_FRICTION (0.545672) // 0.01 default. Friction of the motor & system, should be estimated by SpinTAC Velocity Identify
