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Output Torque and Load Torque of Motor Can't Be Balanced

user4708725
Expert 1030 points

Evaluation board:  drv8301-hc-evm revd

Lab 10a Overmodulation

           CTRL_setSpd_ref_krpm(ctrlHandle,_IQ(0.4));

           #define USER_MOTOR_MAX_CURRENT          (15.0)

When the load torque is equal to the motor output torque, the motor should be completely static,

the actual test motor will not be static, the motor will move forward and backward.

How to realize that when the load torque and motor output torque are equal, the motor is completely static?

the following parameters?

1. gMotorVars.SpeedRef_krpm？

2. gMotorVars.MaxAccel_krpmps？

3. RsOnLineCurrent_A？

The motor parameters are as follows

Nominal voltage V                  24

No load speed rpm                60800

No load current mA               282 

Nominal speed rpm               57500

Nominal torque (max. continuous torque) mNm           23.6

Nominal current (max. continuous current) A               6.45

Stall torque mNm                  561

Stall current A                      149

Max. efciency %                   91.6

Terminal resistance W         0.161

Terminal inductance mH     0.0171

Torque constant mNm/A     3.76

Speed constant rpm/V        2540

Speed/torque gradient rpm/mNm      109

Mechanical time constant ms            2.04

Rotor inertia gcm                               1.79

  • 0
    TI__Guru** 117270 points

    I can't fully understand your question, so I assume that the motor is running with speed closed loop, the system should have inertia and friction, so the output torque is not a fixed constant and it will be not equal to the load torque in a real case, so you can't get the state as you mentioned.