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LAUNCHXL-F28379D: (LEVLE4) Debug the LAUNCHXL-F28379D with the BOOSTXL-3PhGaNInv ,run the dual motor ,cannot regulate the speed.

Scaler_cao
Intellectual 361 points
Part Number: LAUNCHXL-F28379D
Other Parts Discussed in Thread: BOOSTXL-3PHGANINV, C2000WARE

I debug the LAUNCHXL-F28379D with the BOOSTXL-3PhGaNInv , It is all TI hardware. and I use the program from E:\ccs\C2000Ware_MotorControl_SDK_3_01_00_00\solutions\boostxl_3phganinv\f2837x\ccs\sensored_foc.(LEVLE4) dual motor run with speed loop.

I have give the motorVars[0].speedRef  0.2pu, But motorVars[0].speed.Speed do not keep same with the Reference speed, and I give another motorVars[0].speedRef like 0.3pu, The speed of motor do not change.likely, it is always run in a steady speed.

and I have checked the program when the flagSyncRun equal to 1 like below.

I have checked the variables motorVars[0].speedRef and motorVars[1].speedRef ,it both become the same with speedRef.

but it is so strange that both motor's  .speed.speed do not keep same with the speedRef.

Why? so how to change the both motor's speed  at level 4.

  • 0
    TI__Guru** 114120 points

    It seems like the index of the encoder was not detected, please check the connection of the encoder or the encoder setting in "dual_axis_servo_drive_settings.h".

  • 0 in reply to Yanming Luo
    Intellectual 361 points

    Hi Yangming Luo, 

    Thank you so much for your reply.

    I remember that during level 2, I can regulate the speed by changing the motorVars[0].speedRef. this can illustrate that the index of the encoder is correct.

    My setting  of encoder in "dual_axis_servo_drive_settings.h" is like below

    Encoder lines like below.

    also , I have changed the encoder lines in "dual_axis_servo_drive_user.h" with the right number.

    My motor is not the two motor dyno from TI website but bought from China. The encoder is incremental encoder with differential output.

    So I made the differential output signal to single ouput by some hardwares like below.

    also , the instruction of my encoder is like below.

    And I have checked the encoder output, It has signal in the terminal of the  LAUNCHXL-F28379D(J14 ,J15). But the power supply from theLAUNCHXL-F28379D is not 5V， likely ,it is 3.75V. I'm not sure if it can affect the encoder?

    So why?

    Waiting for your reply

    Scaler

  • +1 in reply to Scaler_cao
    TI__Guru** 114120 points

    You might use an oscilloscope to check if there are A, B, Index(Z) signals output from the encoder. The power supply on the connect of the  LAUNCHXL-F28379D(J14 ,J15) should be +5V if you didn't connect the encoder. Please check what's the maximum consumption current of your encoder.

  • 0 in reply to Yanming Luo
    Intellectual 361 points

    Thank you so much, Now I have solved the problem, It is because that the module which used to convert differential signal to single ended signal did not work. And this module is power supplied by 8-30V， But I give 5v,also, I  use the same power supply from the LAUNCHXL-F28379D(J14,J15). So now I give different power supply 24V to the board, It now works well. 

    Further more, I have found that when use the dual motor to run , It always did not start at the same time? So how to improve this ?

  • 0 in reply to Scaler_cao
    TI__Guru** 114120 points

    Both motors should be starting at the same time, but the response may be different that depends on the motor and system. You have to tune the control parameters that could be a detailed engineering topic, we don't have a reference for you.

  • 0 in reply to Yanming Luo
    Intellectual 361 points

    Ok, Thank you for your reply!