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TMS320F28069M: Motor shake, stop with deceleration

Daniel Fang
Genius 11600 points
Part Number: TMS320F28069M
Other Parts Discussed in Thread: MOTORWARE

Hi,

My customer develop door gate based on Motorware Lab13d example. It has below problems:

1. Motor shake, it has improvement after adjust bandwidth, inertia and friction parameters. But it will bring noise if continue to adjust this parameters. How to adjust in further?

2. At rest, take external force strongly pushes the clutch to lock. After the clutch is unlocked, TI position control will rebound strongly to the initial position. During the recovery process, strong vibration will occur. How to achieve self-control and return to the initial position?

We can make it slowly return to the middle position by modifying gPwmData value in the HAL_writePwmData(halHandle, &gPwmData) function. After gPwmData value will vibrate slightly, how to achieve better transition?

3. How to realize the stop with the deceleration during the position movement? Thanks.

    

  • 0
    TI__Guru** 116090 points

    1. Ensure the motor parameters and inertia are identified in lab02b and lab12a. Tune the control bandwidth and the gains of the current PI regulator according to the real running state and requirement.

    2. Why change the gPwmData by manual? You should change the motion sequence and reference position to implement motion control, only need to do the initial position calibration when the controller power on.

    3. Please have a look at the lab guide, to stop the motion sequence, set “gMotorVars.SpinTAC.PosPlanRun” to ST_PLAN_STOP.