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CCS/INSTASPIN-BLDC: TMS320F28027

Zhiqi SHAO
Intellectual 270 points
Part Number: INSTASPIN-BLDC

Tool/software: Code Composer Studio

Hi,

I have some questions about the startup process of the sensorless instaSPIN-FOC system and the Corresponding parameters setting  in the InstaSPIN project.

My UAV system has four motors driving by the sensorless-FOC, and I find that the four motors's startup is out of sync when I  activate the drone. And I find the startup time vary from each startup process. Sometimes the motor starts up smoothly and sometimes there seems to have a pause in the startup process.You may refer to the figure showed  below.

There are two related parameters should be set in the file of user.h: USER_ZEROSPEEDLIMIT and USER_FORCE_ANGLE_FREQ_Hz.The datasheet of SPRUHJ1G relates that USER_ZEROSPEEDLIMIT defines the low speed limit for the flux integrator, and it's typical value is 0.002 pu. And USER_FORCE_ANGLE_FREQ_Hz defines the force angle frequency ,and  typical force angle start-up speed is 1.0.Are there any proposals to set the parameters ?And how to estimate whether the parameters are the best setting? Are there any other settings in the InstaSPIN project in order to get ideal startup process. Thanks.

  • 0
    TI__Guru** 115420 points
    You may have a look at chapter 14 of InstaSPIN user's guide that should help you to improve the startup. Actually, you may enable "force angle" if the startup load is not heavy for such UAV application, USER_ZEROSPEEDLIMIT and USER_FORCE_ANGLE_FREQ_Hz are set to a value that's based on the BEMF parameters of the motor, 1~5Hz should be good for most motors, you may tune it according to the test result.
    Btw, it's impossible to have the same startup profile for four motors since the parameters and loading may be different.
  • 0 in reply to Yanming Luo
    Intellectual 270 points

    Hi,

    The datasheet notes that angle estimator converges within first cycle of the applied waveform regardless of speed. Is the first cycle  related to the USER_FORCE_ANGLE_FREQ_Hz or others?

  • 0 in reply to Zhiqi SHAO
    TI__Guru** 115420 points
    The angle will be from estimator from the first cycle if you disable the force angle function, but it will be calculated from USER_FORCE_ANGLE_FREQ_Hz before the estimation speed is higher than USER_FORCE_ANGLE_FREQ_Hz if you enable the force angle.