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CCS/TMS320F28069M: Motor makes sounds if stop in movement

JL96
Prodigy 100 points

Part Number: TMS320F28069M
Other Parts Discussed in Thread: BOOSTXL-DRV8305EVM,

Tool/software: Code Composer Studio

Hello

We use TMS320F28069M and two BOOSTXL-DRV8305EVM to drive two Low Inductance PMSM motors in lab 6e.

The motors are spinning fine and have been identified in lab 2c and 3a.

The problem is when the motors reaches the end of the possible movement the motor still contines to run and makes clicking sounds if velocity is set constant. This is a error case but can still happen and a recalibration is to be performed but whanted is not the motors to click but instead have a smoth slow down when a load is detected. We have HALL sensors that detect the stop in movement and stops velocity. But the clicking sound is still heard before motor stops.

Have tried to change the bandwith, MaxAccel and MaxJrk without success.

Have not a available current probe to show but took Iq_A of the two motors whick goes into current limit of 5A:

I also attach one of the user.h files (which are the same except the Rr, Rs, Ls_d and LS_q which differs:

user_mtr_on_j5 - Copy.h

Any help appreciated.

Thanks

  • 0
    TI__Guru** 117270 points
    Did you have any current waveform captured by the oscilloscope with a current probe? What PWM frequency and ISR are you using since the motor is a low inductance? Did the noise still have if you only controlled a motor with high PWM frequency? What speed makes such noise? Full speed range? Or just the speed is lower than a threshold. You might tune the control bandwidth to get better performance at low speed.
  • 0 in reply to Yanming Luo
    TI__Guru** 117270 points
    Hi Sir,

    Just wanted to check in and see if there is any update from your side, I haven’t heard from you for a week, so I’m assuming you were able to resolve your issue. Please let me know if you have any questions. We would like to close this thread if no any further questions. Thanks.