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TIDM-02007: Motor operation is abnormal

F.F
Genius 3095 points
Part Number: TIDM-02007
Other Parts Discussed in Thread: LAUNCHXL-F28379D, BOOSTXL-3PHGANINV

Hi team:

I am using the TI design "Dual-axis servo drive with fast current loop (FCL) control reference design" to run the motors.

All materials are purchased from TI, include LAUNCHXL-F28379D, BOOSTXL-3PHGANINV and motors. And I also run suites and programs according to Gui instructions.

The question now is:

In the speed loop control, when the motor is just started, it will reverse first, and then shake suddenly, and then it will run normally.

Is this normal? If not, what causes it?

Best regards

  • 0
    Guru 54087 points

    Hi F.F

    F.F said:
    Is this normal? If not, what causes it?

    No it's not normal, over current drive may cause slow speed observer to shake rotor, not lock to or detect magnetic Nth pole. The startup angle should be set forced, <1Hz for FAST slow speed observer. After discovering project bug SDK(FOC) last Friday I would check every part of any example code you use for odd human errors/issues.

    One good way to check for bugs is to enter CCS debug, run the code and suspend it, click variables tab to show main.c run time variables. Click run/suspend several times until variables show. Traverse back into CCS editor hover over suspect project variables to check specific data values pointers were loaded etc...  

  • 0 in reply to Genatco
    TI__Mastermind 27240 points

    It is not normal. The problem may be due to the angle not being up-to-date at the moment of starting or IdRef droppng to zero and motor starting up with high  IqRef and the high bandwidth of current loop distracting the start up.

    Try any/ all of the following:

    1. increasing the time between alignment and running the motor

    2. retain IdRef until the motor runs properly after alignment before dropping IdRef to zero

    3. see if reduced IqRef at start helps.

    I may not have given the exact variable names, but i hope you understand the gist of the msg.

  • 0 in reply to Ramesh Ramamoorthy
    Prodigy 80 points

    So, how to explain the motor reverse at the beginning.

  • 0 in reply to xiaomemg
    TI__Mastermind 27240 points

    Any / combo of the above.