Tool/software: Code Composer Studio
When debugging the motor control routine "HVPM_SenlorLess "provided by TI, under the condition of BUILDLEVEL==LEVEL6 and lsw=1, Thetat and rg1. Out are both sawtooth waves with the same direction, and there is a little phase difference between them,The motor can rotate normally.
When the normal speed is maintained, let LSW = 2, the motor will reach its maximum speed immediately,It's much faster than normal speed. Smo1. Theta is a high frequency sawtooth wave and its rotation direction is opposite to that of LSW = 1.
At first, it was suspected that the parameters of pid1_spd were not adjusted properly. Later, the speed loop was disconnected from the program by using the following program section 1. When IqRef = IQ (0.05), the motor reached its maximum speed immediately, and smo1. Theta was observed to be a high frequency sawtooth wave with the same direction as LSW = 1.
When IqRef = IQ (0.015), smo1.Theta is an irregular triangular wave with the same frequency as rg1.Out, but not a sawtooth wave. The motor jitters and does not rotate. In this case, the parameters smo1.Kslide and o1.Kslf in the SMO_MACRO(v) program (following procedure section 2) are debugged, smo1.Theta. It is still the same frequency as rg1.Out, but the shape is more irregular. Three-phase permanent magnet synchronous motor still jitters. When smo1.Kslide and smo1.Kslf are adjusted to a certain value, the motor reaches its maximum speed. Smo1.Theta is a high frequency sawtooth wave, and its direction is the same as lsw=1.
Masters, when LSW = 2 (no position sensor and speed sensor), that is, smo1. Theta estimated by sliding mode observer is introduced into the program to calculate Park and Ipark converters, how can the motor rotate smoothly?
