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DRV8312-69M-KIT: Regarding Level 5 PID tuning

Shivanjali Mohite
Prodigy 170 points
Part Number: DRV8312-69M-KIT
Other Parts Discussed in Thread: C2000WARE

With respect to attached BLDC motor specs (DT4260-24-055-04H-PT make)., we have few questions for using right parameters for PID.

1. PID tends to go into saturation (pwm1.DutyFunc jumps to 31129) as soon as ILoopFlag is set & CurrentSet = 1.2. [to apply load, motor shaft is just held by hand]

2. The base quantities are chosen as below to initialize Kp:

BASE_VOLTAGE = 13.85 [24 / sqrt (3)]

BASE_CURRENT =  3.5 [Rated Torque / Torque Constant]

BASE_FREQ =  230 

3. How to choose correct Umax & Umin for above configuration?

4 .Speed RPM goes seems to go into the range of 10000. Is it valid speed? How can we verify motor speed?

  • 0
    TI__Guru** 116110 points

    You have to tune the Kp&Ki according to the running state. Or you may have to look at the PID Controller Tuning Guide.pdf  documentation under "\ti\c2000\C2000Ware_2_00_00_03\libraries\control\DCL\c28\docs" if you download and install the C2000Ware as below link.

    http://www.ti.com/tool/C2000WARE

     Umax must be set to a value that's less than _IQ(1.0).

     Umin must be set to a value that's greater than _IQ(-1.0).