Some questions about InstaSpin technology for electric vehicle application.

chao yang

Other Parts Discussed in Thread: MOTORWARE, DRV8301

Q1:I found there is no speed loop only current closed-loop control on electric vehicle motor drive,so I do not know why.

Q2: Taking into consideration of security,I have to use encoders.I have originally been intended to control motor by InstaSpin-motion technology.It cost me a long time to design my board.But now I heard there is no speed loop for electric vehicle application.That means I can only use code examples of current loop control.However in motorware,the use.h file for foc does not have code examples with encoders.So I do not know if instaspin technology suits for electric vehicle application.

over 11 years ago

0 ChrisClearman over 11 years ago

TI__Guru** 119680 points

A1: Most electric vehicle drives are just torque control. The speed loop is controlled by the driver or "cruise control". When a throttle/pedal is engaged you are just requesting a % of maximum torque.

A2: There really isn't any benefit to using InstaSPIN for sensored torque control. The advantages for InstaSPIN are in sensorless (FAST) and complex speed/position (SpinTAC suite). Your application would use neither.

You can use proj_lab12 (speed control + encoder) and just follow the code example from 05a to disable the speed controller (in this case SpinTAC speed controller). This will allow you to provide an Iq_Ref_A as the torque command.

0 chao yang over 10 years ago in reply to ChrisClearman

Expert 1620 points

Hello,Chris.

I did experiments on DRV8301-69M-KIT and used motor:Teknic M-2310P-LN-04K.

I have modified the code of lab12b according to lab5a.It has become sensored torque control.

The motor run well with sensored torque control.

But I found motor can not produce a torque when I pinched the shaft of motor by my hands(make speed =0).

I do not know why.Are there some mistakes in my modified code?

Fullscreen lab12b.c Download

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//! \file   solutions/instaspin_motion/src/proj_lab12b.c
//! \brief  SpinTAC Velocity Controller using a quadrature encoder for feedback
//!
//! (C) Copyright 2012, LineStream Technologies, Inc.
//! (C) Copyright 2011, Texas Instruments, Inc.

//! \defgroup PROJ_LAB12b PROJ_LAB12b
//@{

//! \defgroup PROJ_LAB12b_OVERVIEW Project Overview
//!
//! SpinTAC Velocity Controller using a quadrature encoder for feedback
//!

// **************************************************************************
// the includes

// system includes
#include <math.h>
#include "main.h"

#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif

// Include header files used in the main function


// **************************************************************************
// the defines

#define LED_BLINK_FREQ_Hz   5


// **************************************************************************
// the globals

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

HAL_Handle halHandle;

USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
CTRL_Obj ctrl;				//v1p7 format
#endif

ENC_Handle encHandle;
ENC_Obj enc;

SLIP_Handle slipHandle;
SLIP_Obj slip;

ST_Obj st_obj;
ST_Handle stHandle;

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
#endif


#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif

_iq gFlux_pu_to_Wb_sf;

_iq gFlux_pu_to_VpHz_sf;

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;

_iq gTorque_Flux_Iq_pu_to_Nm_sf;

// **************************************************************************
// the functions

void updateIqRef(CTRL_Handle handle)
{
  _iq iq_ref = _IQmpy(gMotorVars.IqRef_A,_IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A));

  // set the speed reference so that the forced angle rotates in the correct direction for startup
  if(_IQabs(gMotorVars.Speed_krpm) < _IQ(0.01))
    {
      if(iq_ref < _IQ(0.0))
        {
          CTRL_setSpd_ref_krpm(handle,_IQ(-0.01));
        }
      else if(iq_ref > _IQ(0.0))
        {
          CTRL_setSpd_ref_krpm(handle,_IQ(0.01));
        }
    }

  // Set the Iq reference that use to come out of the PI speed control
  CTRL_setIq_ref_pu(handle, iq_ref);

  return;
} // end of updateIqRef() function

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));


  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);


  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);


  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }


  // initialize the user parameters
  USER_setParams(&gUserParams);


  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);


  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);  		//v1p6 format (06xF and 06xM devices)
  controller_obj = (CTRL_Obj *)ctrlHandle;
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl));	//v1p7 format default
#endif


  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }


  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);


  // setup faults
  HAL_setupFaults(halHandle);


  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);


  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);


  // enable global interrupts
  HAL_enableGlobalInts(halHandle);


  // enable debug interrupts
  HAL_enableDebugInt(halHandle);


  // disable the PWM
  HAL_disablePwm(halHandle);


  // initialize the ENC module
  encHandle = ENC_init(&enc, sizeof(enc));


  // setup the ENC module
  ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);


  // initialize the SLIP module
  slipHandle = SLIP_init(&slip, sizeof(slip));


  // setup the SLIP module
  SLIP_setup(slipHandle, _IQ(gUserParams.ctrlPeriod_sec));


  // initialize the SpinTAC Components
  stHandle = ST_init(&st_obj, sizeof(st_obj));
  
  
  // setup the SpinTAC Components
//  ST_setupVelCtl(stHandle);
  ST_setupPosConv(stHandle);


#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif


  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);


  // compute scaling factors for flux and torque calculations
  gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
  gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
  gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
  gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();


  for(;;)
  {
    // Waiting for enable system flag to be set
    while(!(gMotorVars.Flag_enableSys));

    // Dis-able the Library internal PI.  Iq has no reference now
    CTRL_setFlag_enableSpeedCtrl(ctrlHandle, false);

    // loop while the enable system flag is true
    while(gMotorVars.Flag_enableSys)
      {
        CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;
        ST_Obj *stObj = (ST_Obj *)stHandle;

        // increment counters
        gCounter_updateGlobals++;

        // enable/disable the use of motor parameters being loaded from user.h
        CTRL_setFlag_enableUserMotorParams(ctrlHandle,gMotorVars.Flag_enableUserParams);

        // enable/disable Rs recalibration during motor startup
        EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars.Flag_enableRsRecalc);

        // enable/disable automatic calculation of bias values
        CTRL_setFlag_enableOffset(ctrlHandle,gMotorVars.Flag_enableOffsetcalc);


        if(CTRL_isError(ctrlHandle))
          {
            // set the enable controller flag to false
            CTRL_setFlag_enableCtrl(ctrlHandle,false);

            // set the enable system flag to false
            gMotorVars.Flag_enableSys = false;

            // disable the PWM
            HAL_disablePwm(halHandle);
          }
        else
          {
            // update the controller state
            bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);

            // enable or disable the control
            CTRL_setFlag_enableCtrl(ctrlHandle, gMotorVars.Flag_Run_Identify);

            if(flag_ctrlStateChanged)
              {
                CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);

                if(ctrlState == CTRL_State_OffLine)
                  {
                    // enable the PWM
                    HAL_enablePwm(halHandle);
                  }
                else if(ctrlState == CTRL_State_OnLine)
                  {
                    if(gMotorVars.Flag_enableOffsetcalc == true)
                    {
                      // update the ADC bias values
                      HAL_updateAdcBias(halHandle);
                    }
                    else
                    {
                      // set the current bias
                      HAL_setBias(halHandle,HAL_SensorType_Current,0,_IQ(I_A_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Current,1,_IQ(I_B_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Current,2,_IQ(I_C_offset));

                      // set the voltage bias
                      HAL_setBias(halHandle,HAL_SensorType_Voltage,0,_IQ(V_A_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Voltage,1,_IQ(V_B_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Voltage,2,_IQ(V_C_offset));
                    }

                    // Return the bias value for currents
                    gMotorVars.I_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Current,0);
                    gMotorVars.I_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Current,1);
                    gMotorVars.I_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Current,2);

                    // Return the bias value for voltages
                    gMotorVars.V_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Voltage,0);
                    gMotorVars.V_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Voltage,1);
                    gMotorVars.V_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Voltage,2);

                    // enable the PWM
                    HAL_enablePwm(halHandle);
                  }
                else if(ctrlState == CTRL_State_Idle)
                  {
                    // disable the PWM
                    HAL_disablePwm(halHandle);
                    gMotorVars.Flag_Run_Identify = false;
                  }

                if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
                  (ctrlState > CTRL_State_Idle) &&
                  (gMotorVars.CtrlVersion.minor == 6))
                  {
                    // call this function to fix 1p6
                    USER_softwareUpdate1p6(ctrlHandle);
                  }

              }
          }


        if(EST_isMotorIdentified(obj->estHandle))
          {
            // set the current ramp
            EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope);
            gMotorVars.Flag_MotorIdentified = true;

            // set the speed reference
/*            CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);

            // set the speed acceleration
            CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));

            // enable the SpinTAC Speed Controller
            STVELCTL_setEnable(stObj->velCtlHandle, true);

            if(EST_getState(obj->estHandle) != EST_State_OnLine)
            {
            	// if the estimator is not running, place SpinTAC into reset
            	STVELCTL_setEnable(stObj->velCtlHandle, false);
            }
*/
            if(Flag_Latch_softwareUpdate)
            {
              Flag_Latch_softwareUpdate = false;

              USER_calcPIgains(ctrlHandle);
			  
              // initialize the watch window kp and ki current values with pre-calculated values
              gMotorVars.Kp_Idq = CTRL_getKp(ctrlHandle,CTRL_Type_PID_Id);
              gMotorVars.Ki_Idq = CTRL_getKi(ctrlHandle,CTRL_Type_PID_Id);
/*
			  // initialize the watch window Bw value with the default value
              gMotorVars.SpinTAC.VelCtlBw_radps = STVELCTL_getBandwidth_radps(stObj->velCtlHandle);

              // initialize the watch window with maximum and minimum Iq reference
              gMotorVars.SpinTAC.VelCtlOutputMax_A = _IQmpy(STVELCTL_getOutputMaximum(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
              gMotorVars.SpinTAC.VelCtlOutputMin_A = _IQmpy(STVELCTL_getOutputMinimum(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
*/            }

          }
        else
          {
            Flag_Latch_softwareUpdate = true;

            // the estimator sets the maximum current slope during identification
            gMaxCurrentSlope = EST_getMaxCurrentSlope_pu(obj->estHandle);
          }


        // when appropriate, update the global variables
        if(gCounter_updateGlobals >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
          {
            // reset the counter
            gCounter_updateGlobals = 0;

            updateGlobalVariables_motor(ctrlHandle, stHandle);
          }

        // update Iq reference
        updateIqRef(ctrlHandle);

        // update Kp and Ki gains
        updateKpKiGains(ctrlHandle);
/*
        // set the SpinTAC (ST) bandwidth scale
        STVELCTL_setBandwidth_radps(stObj->velCtlHandle, gMotorVars.SpinTAC.VelCtlBw_radps);

        // set the maximum and minimum values for Iq reference
        STVELCTL_setOutputMaximums(stObj->velCtlHandle, _IQmpy(gMotorVars.SpinTAC.VelCtlOutputMax_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)), _IQmpy(gMotorVars.SpinTAC.VelCtlOutputMin_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)));
*/
        // enable/disable the forced angle
        EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars.Flag_enableForceAngle);

        // enable or disable power warp
        CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);

#ifdef DRV8301_SPI
        HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);

        HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
#endif

      } // end of while(gFlag_enableSys) loop


    // disable the PWM
    HAL_disablePwm(halHandle);

    // set the default controller parameters (Reset the control to re-identify the motor)
    CTRL_setParams(ctrlHandle,&gUserParams);
    gMotorVars.Flag_Run_Identify = false;
	
    // setup the SpinTAC Components
//    ST_setupVelCtl(stHandle);
    ST_setupPosConv(stHandle);

  } // end of for(;;) loop

} // end of main() function


interrupt void mainISR(void)
{

  static uint16_t stCnt = 0;
  CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;

  // toggle status LED
  if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
  {
    HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
    gLEDcnt = 0;
  }


  // compute the electrical angle
  ENC_calcElecAngle(encHandle, HAL_getQepPosnCounts(halHandle));


  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);


  // convert the ADC data
  HAL_readAdcData(halHandle,&gAdcData);


  // Run the SpinTAC Components
  if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
	  ST_runPosConv(stHandle, encHandle, ctrlHandle);
//	  ST_runVelCtl(stHandle, ctrlHandle);
	  stCnt = 1;
  }


  if(USER_MOTOR_TYPE == MOTOR_Type_Induction) {
    // update the electrical angle for the SLIP module
    SLIP_setElectricalAngle(slipHandle, ENC_getElecAngle(encHandle));
    // compute the amount of slip
    SLIP_run(slipHandle);


    // run the controller
    CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData,SLIP_getMagneticAngle(slipHandle));
  }
  else {
    // run the controller
    CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData,ENC_getElecAngle(encHandle));
  }

  // write the PWM compare values
  HAL_writePwmData(halHandle,&gPwmData);


  // setup the controller
  CTRL_setup(ctrlHandle);

  // if we are forcing alignment, using the Rs Recalculation, align the eQEP angle with the rotor angle
  if((EST_getState(obj->estHandle) == EST_State_Rs) && (USER_MOTOR_TYPE == MOTOR_Type_Pm))
  {
	  ENC_setZeroOffset(encHandle, (uint32_t)(HAL_getQepPosnMaximum(halHandle) - HAL_getQepPosnCounts(halHandle)));
  }

  return;
} // end of mainISR() function


void updateGlobalVariables_motor(CTRL_Handle handle, ST_Handle sthandle)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  ST_Obj *stObj = (ST_Obj *)sthandle;


  // get the speed estimate
  gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);

  // get the speed from eQEP
  gMotorVars.SpeedQEP_krpm = _IQmpy(STPOSCONV_getVelocityFiltered(stObj->posConvHandle), _IQ(ST_SPEED_KRPM_PER_PU));

  // get the real time speed reference coming out of the speed trajectory generator
  gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

  // get the torque estimate
  gMotorVars.Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf, gTorque_Ls_Id_Iq_pu_to_Nm_sf);

  // get the magnetizing current
  gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);

  // get the rotor resistance
  gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);

  // get the stator resistance
  gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);

  // get the stator inductance in the direct coordinate direction
  gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);

  // get the stator inductance in the quadrature coordinate direction
  gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);

  // get the flux in V/Hz in floating point
  gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);

  // get the flux in Wb in fixed point
  gMotorVars.Flux_Wb = USER_computeFlux(handle, gFlux_pu_to_Wb_sf);

  // get the controller state
  gMotorVars.CtrlState = CTRL_getState(handle);

  // get the estimator state
  gMotorVars.EstState = EST_getState(obj->estHandle);

  // Get the DC buss voltage
  gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));
/*
  // get the Iq reference from the speed controller
  gMotorVars.IqRef_A = _IQmpy(STVELCTL_getTorqueReference(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));

  // gets the Velocity Controller status
  gMotorVars.SpinTAC.VelCtlStatus = STVELCTL_getStatus(stObj->velCtlHandle);

  // get the inertia setting
  gMotorVars.SpinTAC.InertiaEstimate_Aperkrpm = _IQmpy(STVELCTL_getInertia(stObj->velCtlHandle), _IQ(ST_SPEED_PU_PER_KRPM * USER_IQ_FULL_SCALE_CURRENT_A));

  // get the friction setting
  gMotorVars.SpinTAC.FrictionEstimate_Aperkrpm = _IQmpy(STVELCTL_getFriction(stObj->velCtlHandle), _IQ(ST_SPEED_PU_PER_KRPM * USER_IQ_FULL_SCALE_CURRENT_A));

  // get the Velocity Controller error
  gMotorVars.SpinTAC.VelCtlErrorID = STVELCTL_getErrorID(stObj->velCtlHandle);

  // get the Position Converter error
  gMotorVars.SpinTAC.PosConvErrorID = STPOSCONV_getErrorID(stObj->posConvHandle);
*/
  return;
} // end of updateGlobalVariables_motor() function


void updateKpKiGains(CTRL_Handle handle)
{
  if((gMotorVars.CtrlState == CTRL_State_OnLine) && (gMotorVars.Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate == false))
    {
      // set the kp and ki speed values from the watch window
/*      CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars.Kp_spd);
      CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars.Ki_spd);
*/
      // set the kp and ki current values for Id and Iq from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars.Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars.Ki_Idq);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars.Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars.Ki_Idq);
	}

  return;
} // end of updateKpKiGains() function


void ST_runPosConv(ST_Handle handle, ENC_Handle encHandle, CTRL_Handle ctrlHandle)
{
	ST_Obj *stObj = (ST_Obj *)handle;

	// get the electrical angle from the ENC module
    STPOSCONV_setElecAngle_erev(stObj->posConvHandle, ENC_getElecAngle(encHandle));

    if(USER_MOTOR_TYPE ==  MOTOR_Type_Induction) {
      // The CurrentVector feedback is only needed for ACIM
      // get the vector of the direct/quadrature current input vector values from CTRL
      STPOSCONV_setCurrentVector(stObj->posConvHandle, CTRL_getIdq_in_addr(ctrlHandle));
    }

	// run the SpinTAC Position Converter
	STPOSCONV_run(stObj->posConvHandle);

	if(USER_MOTOR_TYPE ==  MOTOR_Type_Induction) {
	  // The Slip Velocity is only needed for ACIM
	  // update the slip velocity in electrical angle per second, Q24
	  SLIP_setSlipVelocity(slipHandle, STPOSCONV_getSlipVelocity(stObj->posConvHandle));
	}
}

/*
void ST_runVelCtl(ST_Handle handle, CTRL_Handle ctrlHandle)
{
    _iq speedFeedback, iqReference;
    ST_Obj *stObj = (ST_Obj *)handle;
    CTRL_Obj *ctrlObj = (CTRL_Obj *)ctrlHandle;

    // Get the mechanical speed in pu
    speedFeedback = STPOSCONV_getVelocityFiltered(stObj->posConvHandle);

	// Run the SpinTAC Controller
	// Note that the library internal ramp generator is used to set the speed reference
    STVELCTL_setVelocityReference(stObj->velCtlHandle, TRAJ_getIntValue(ctrlObj->trajHandle_spd));
	STVELCTL_setAccelerationReference(stObj->velCtlHandle, _IQ(0.0));	// Internal ramp generator does not provide Acceleration Reference
	STVELCTL_setVelocityFeedback(stObj->velCtlHandle, speedFeedback);
	STVELCTL_run(stObj->velCtlHandle);

	// select SpinTAC Velocity Controller
	iqReference = STVELCTL_getTorqueReference(stObj->velCtlHandle);

	// Set the Iq reference that came out of SpinTAC Velocity Control
	CTRL_setIq_ref_pu(ctrlHandle, iqReference);
}

*/
//@} //defgroup
// end of file

6204.user.h

0 ChrisClearman over 10 years ago in reply to chao yang

TI__Guru** 119680 points

you are saying that when you stall the rotor (provide more load than the torque it can produce) the rotor completely stops producing torque?
that doesn't make sense...

what is your Iq_Ref_A command?
is ForceAngle disabled?
have you looked at the angle being provided by your encoder?

0 chao yang over 10 years ago in reply to ChrisClearman

Expert 1620 points

Hello chris.

"you are saying that when you stall the rotor (provide more load than the torque it can produce) the rotor completely stops producing torque?"

Yes,the rotor completely stops producing torque and I got the same result Whatever make ForceAngle enable or not.

"what is your Iq_Ref_A command?"

Iq_Ref_A = 0.3 ~ 0.35

"have you looked at the angle being provided by your encoder?"

When I run the motor by my hand,I found gMotorVars.SpeedQEP_krpm changed.I think encoder can work.

I suspect the system used the angle which came from "FAST" but not encoder.Nevertheless, I can not find mistakes in my modified code.

0 ChrisClearman over 10 years ago in reply to chao yang

TI__Guru** 119680 points

1. disable force angle all the time when using an encoder
2. I would look at the actual angle being used by the CTRL during normal operation and at standstill with a load. This could give you some idea of what the problem could be.
3. if you used the project of lab12 the angle being used in CTRL should be from the SpinTAC mechanical to electrical conversion block

0 chao yang over 10 years ago in reply to ChrisClearman

Expert 1620 points

1. disable force angle all the time when using an encoder

Now,I have made force angle disable:

2. I would look at the actual angle being used by the CTRL during normal operation and at standstill with a load. This could give you some idea of what the problem could be.

Actual angle?? I think it is the variable "enc_elec_angle".If so,add structure enc which contains enc_elec_angle to watch expression.then I execute programs......

I set Iq_Ref_A =0.35,the motor run 3KRPM.I found enc_elec_angle was changing all the time and the bus current was 0.3A.

Then I stalled the motor by my fingers.It stoped very easily and the bus current was 0A (In my view if motor produces torque at 0 speed, the bus current should be more than 0.3A).

enc_elec_angle changed ever so slightly.0.652xx~0.653xx

These is lab12b.c:

Fullscreen 2781.lab12b.c Download

/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, LineStream Technologies Incorporated
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
* *  Neither the names of Texas Instruments Incorporated, LineStream
 *    Technologies Incorporated, nor the names of its contributors may be
 *    used to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
//! \file   solutions/instaspin_motion/src/proj_lab12b.c
//! \brief  SpinTAC Velocity Controller using a quadrature encoder for feedback
//!
//! (C) Copyright 2012, LineStream Technologies, Inc.
//! (C) Copyright 2011, Texas Instruments, Inc.

//! \defgroup PROJ_LAB12b PROJ_LAB12b
//@{

//! \defgroup PROJ_LAB12b_OVERVIEW Project Overview
//!
//! SpinTAC Velocity Controller using a quadrature encoder for feedback
//!

// **************************************************************************
// the includes

// system includes
#include <math.h>
#include "main.h"

#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif

// Include header files used in the main function


// **************************************************************************
// the defines

#define LED_BLINK_FREQ_Hz   5


// **************************************************************************
// the globals

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

HAL_Handle halHandle;

USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
CTRL_Obj ctrl;				//v1p7 format
#endif

ENC_Handle encHandle;
ENC_Obj enc;

SLIP_Handle slipHandle;
SLIP_Obj slip;

ST_Obj st_obj;
ST_Handle stHandle;

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
#endif


#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif

_iq gFlux_pu_to_Wb_sf;

_iq gFlux_pu_to_VpHz_sf;

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;

_iq gTorque_Flux_Iq_pu_to_Nm_sf;

// **************************************************************************
// the functions

void updateIqRef(CTRL_Handle handle)
{
  _iq iq_ref = _IQmpy(gMotorVars.IqRef_A,_IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A));

  // set the speed reference so that the forced angle rotates in the correct direction for startup
/*  if(_IQabs(gMotorVars.Speed_krpm) < _IQ(0.01))
    {
      if(iq_ref < _IQ(0.0))
        {
          CTRL_setSpd_ref_krpm(handle,_IQ(-0.01));
        }
      else if(iq_ref > _IQ(0.0))
        {
          CTRL_setSpd_ref_krpm(handle,_IQ(0.01));
        }
    }
*/
  // Set the Iq reference that use to come out of the PI speed control
  CTRL_setIq_ref_pu(handle, iq_ref);

  return;
} // end of updateIqRef() function

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));


  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);


  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);


  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }


  // initialize the user parameters
  USER_setParams(&gUserParams);


  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);


  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);  		//v1p6 format (06xF and 06xM devices)
  controller_obj = (CTRL_Obj *)ctrlHandle;
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl));	//v1p7 format default
#endif


  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }


  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);


  // setup faults
  HAL_setupFaults(halHandle);


  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);


  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);


  // enable global interrupts
  HAL_enableGlobalInts(halHandle);


  // enable debug interrupts
  HAL_enableDebugInt(halHandle);


  // disable the PWM
  HAL_disablePwm(halHandle);


  // initialize the ENC module
  encHandle = ENC_init(&enc, sizeof(enc));


  // setup the ENC module
  ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);


  // initialize the SLIP module
  slipHandle = SLIP_init(&slip, sizeof(slip));


  // setup the SLIP module
  SLIP_setup(slipHandle, _IQ(gUserParams.ctrlPeriod_sec));


  // initialize the SpinTAC Components
  stHandle = ST_init(&st_obj, sizeof(st_obj));
  
  
  // setup the SpinTAC Components
//  ST_setupVelCtl(stHandle);
  ST_setupPosConv(stHandle);


#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif


  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);


  // compute scaling factors for flux and torque calculations
  gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
  gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
  gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
  gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();


  for(;;)
  {
    // Waiting for enable system flag to be set
    while(!(gMotorVars.Flag_enableSys));

    // Dis-able the Library internal PI.  Iq has no reference now
    CTRL_setFlag_enableSpeedCtrl(ctrlHandle, false);

    // loop while the enable system flag is true
    while(gMotorVars.Flag_enableSys)
      {
        CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;
//        ST_Obj *stObj = (ST_Obj *)stHandle;

        // increment counters
        gCounter_updateGlobals++;

        // enable/disable the use of motor parameters being loaded from user.h
        CTRL_setFlag_enableUserMotorParams(ctrlHandle,gMotorVars.Flag_enableUserParams);

        // enable/disable Rs recalibration during motor startup
        EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars.Flag_enableRsRecalc);

        // enable/disable automatic calculation of bias values
        CTRL_setFlag_enableOffset(ctrlHandle,gMotorVars.Flag_enableOffsetcalc);


        if(CTRL_isError(ctrlHandle))
          {
            // set the enable controller flag to false
            CTRL_setFlag_enableCtrl(ctrlHandle,false);

            // set the enable system flag to false
            gMotorVars.Flag_enableSys = false;

            // disable the PWM
            HAL_disablePwm(halHandle);
          }
        else
          {
            // update the controller state
            bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);

            // enable or disable the control
            CTRL_setFlag_enableCtrl(ctrlHandle, gMotorVars.Flag_Run_Identify);

            if(flag_ctrlStateChanged)
              {
                CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);

                if(ctrlState == CTRL_State_OffLine)
                  {
                    // enable the PWM
                    HAL_enablePwm(halHandle);
                  }
                else if(ctrlState == CTRL_State_OnLine)
                  {
                    if(gMotorVars.Flag_enableOffsetcalc == true)
                    {
                      // update the ADC bias values
                      HAL_updateAdcBias(halHandle);
                    }
                    else
                    {
                      // set the current bias
                      HAL_setBias(halHandle,HAL_SensorType_Current,0,_IQ(I_A_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Current,1,_IQ(I_B_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Current,2,_IQ(I_C_offset));

                      // set the voltage bias
                      HAL_setBias(halHandle,HAL_SensorType_Voltage,0,_IQ(V_A_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Voltage,1,_IQ(V_B_offset));
                      HAL_setBias(halHandle,HAL_SensorType_Voltage,2,_IQ(V_C_offset));
                    }

                    // Return the bias value for currents
                    gMotorVars.I_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Current,0);
                    gMotorVars.I_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Current,1);
                    gMotorVars.I_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Current,2);

                    // Return the bias value for voltages
                    gMotorVars.V_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Voltage,0);
                    gMotorVars.V_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Voltage,1);
                    gMotorVars.V_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Voltage,2);

                    // enable the PWM
                    HAL_enablePwm(halHandle);
                  }
                else if(ctrlState == CTRL_State_Idle)
                  {
                    // disable the PWM
                    HAL_disablePwm(halHandle);
                    gMotorVars.Flag_Run_Identify = false;
                  }

                if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
                  (ctrlState > CTRL_State_Idle) &&
                  (gMotorVars.CtrlVersion.minor == 6))
                  {
                    // call this function to fix 1p6
                    USER_softwareUpdate1p6(ctrlHandle);
                  }

              }
          }


        if(EST_isMotorIdentified(obj->estHandle))
          {
            // set the current ramp
            EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope);
            gMotorVars.Flag_MotorIdentified = true;

            // set the speed reference
/*            CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);

            // set the speed acceleration
            CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));

            // enable the SpinTAC Speed Controller
            STVELCTL_setEnable(stObj->velCtlHandle, true);

            if(EST_getState(obj->estHandle) != EST_State_OnLine)
            {
            	// if the estimator is not running, place SpinTAC into reset
            	STVELCTL_setEnable(stObj->velCtlHandle, false);
            }
*/
            if(Flag_Latch_softwareUpdate)
            {
              Flag_Latch_softwareUpdate = false;

              USER_calcPIgains(ctrlHandle);
			  
              // initialize the watch window kp and ki current values with pre-calculated values
              gMotorVars.Kp_Idq = CTRL_getKp(ctrlHandle,CTRL_Type_PID_Id);
              gMotorVars.Ki_Idq = CTRL_getKi(ctrlHandle,CTRL_Type_PID_Id);
/*
			  // initialize the watch window Bw value with the default value
              gMotorVars.SpinTAC.VelCtlBw_radps = STVELCTL_getBandwidth_radps(stObj->velCtlHandle);

              // initialize the watch window with maximum and minimum Iq reference
              gMotorVars.SpinTAC.VelCtlOutputMax_A = _IQmpy(STVELCTL_getOutputMaximum(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
              gMotorVars.SpinTAC.VelCtlOutputMin_A = _IQmpy(STVELCTL_getOutputMinimum(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
*/            }

          }
        else
          {
            Flag_Latch_softwareUpdate = true;

            // the estimator sets the maximum current slope during identification
            gMaxCurrentSlope = EST_getMaxCurrentSlope_pu(obj->estHandle);
          }


        // when appropriate, update the global variables
        if(gCounter_updateGlobals >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
          {
            // reset the counter
            gCounter_updateGlobals = 0;

            updateGlobalVariables_motor(ctrlHandle, stHandle);
          }

        // update Iq reference
        updateIqRef(ctrlHandle);

        // update Kp and Ki gains
        updateKpKiGains(ctrlHandle);
/*
        // set the SpinTAC (ST) bandwidth scale
        STVELCTL_setBandwidth_radps(stObj->velCtlHandle, gMotorVars.SpinTAC.VelCtlBw_radps);

        // set the maximum and minimum values for Iq reference
        STVELCTL_setOutputMaximums(stObj->velCtlHandle, _IQmpy(gMotorVars.SpinTAC.VelCtlOutputMax_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)), _IQmpy(gMotorVars.SpinTAC.VelCtlOutputMin_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)));
*/
        // enable/disable the forced angle
        gMotorVars.Flag_enableForceAngle = 0;
        EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars.Flag_enableForceAngle);

        // enable or disable power warp
        CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);

#ifdef DRV8301_SPI
        HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);

        HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
#endif

      } // end of while(gFlag_enableSys) loop


    // disable the PWM
    HAL_disablePwm(halHandle);

    // set the default controller parameters (Reset the control to re-identify the motor)
    CTRL_setParams(ctrlHandle,&gUserParams);
    gMotorVars.Flag_Run_Identify = false;
	
    // setup the SpinTAC Components
//    ST_setupVelCtl(stHandle);
    ST_setupPosConv(stHandle);

  } // end of for(;;) loop

} // end of main() function


interrupt void mainISR(void)
{

  static uint16_t stCnt = 0;
  CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;

  // toggle status LED
  if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
  {
    HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
    gLEDcnt = 0;
  }


  // compute the electrical angle
  ENC_calcElecAngle(encHandle, HAL_getQepPosnCounts(halHandle));


  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);


  // convert the ADC data
  HAL_readAdcData(halHandle,&gAdcData);


  // Run the SpinTAC Components
  if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
	  ST_runPosConv(stHandle, encHandle, ctrlHandle);
//	  ST_runVelCtl(stHandle, ctrlHandle);
	  stCnt = 1;
  }


  if(USER_MOTOR_TYPE == MOTOR_Type_Induction) {
    // update the electrical angle for the SLIP module
    SLIP_setElectricalAngle(slipHandle, ENC_getElecAngle(encHandle));
    // compute the amount of slip
    SLIP_run(slipHandle);


    // run the controller
    CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData,SLIP_getMagneticAngle(slipHandle));
  }
  else {
    // run the controller
    CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData,ENC_getElecAngle(encHandle));
  }

  // write the PWM compare values
  HAL_writePwmData(halHandle,&gPwmData);


  // setup the controller
  CTRL_setup(ctrlHandle);

  // if we are forcing alignment, using the Rs Recalculation, align the eQEP angle with the rotor angle
  if((EST_getState(obj->estHandle) == EST_State_Rs) && (USER_MOTOR_TYPE == MOTOR_Type_Pm))
  {
	  ENC_setZeroOffset(encHandle, (uint32_t)(HAL_getQepPosnMaximum(halHandle) - HAL_getQepPosnCounts(halHandle)));
  }

  return;
} // end of mainISR() function


void updateGlobalVariables_motor(CTRL_Handle handle, ST_Handle sthandle)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  ST_Obj *stObj = (ST_Obj *)sthandle;


  // get the speed estimate
  gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);

  // get the speed from eQEP
  gMotorVars.SpeedQEP_krpm = _IQmpy(STPOSCONV_getVelocityFiltered(stObj->posConvHandle), _IQ(ST_SPEED_KRPM_PER_PU));

  // get the real time speed reference coming out of the speed trajectory generator
  gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

  // get the torque estimate
  gMotorVars.Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf, gTorque_Ls_Id_Iq_pu_to_Nm_sf);

  // get the magnetizing current
  gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);

  // get the rotor resistance
  gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);

  // get the stator resistance
  gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);

  // get the stator inductance in the direct coordinate direction
  gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);

  // get the stator inductance in the quadrature coordinate direction
  gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);

  // get the flux in V/Hz in floating point
  gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);

  // get the flux in Wb in fixed point
  gMotorVars.Flux_Wb = USER_computeFlux(handle, gFlux_pu_to_Wb_sf);

  // get the controller state
  gMotorVars.CtrlState = CTRL_getState(handle);

  // get the estimator state
  gMotorVars.EstState = EST_getState(obj->estHandle);

  // Get the DC buss voltage
  gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));
/*
  // get the Iq reference from the speed controller
  gMotorVars.IqRef_A = _IQmpy(STVELCTL_getTorqueReference(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));

  // gets the Velocity Controller status
  gMotorVars.SpinTAC.VelCtlStatus = STVELCTL_getStatus(stObj->velCtlHandle);

  // get the inertia setting
  gMotorVars.SpinTAC.InertiaEstimate_Aperkrpm = _IQmpy(STVELCTL_getInertia(stObj->velCtlHandle), _IQ(ST_SPEED_PU_PER_KRPM * USER_IQ_FULL_SCALE_CURRENT_A));

  // get the friction setting
  gMotorVars.SpinTAC.FrictionEstimate_Aperkrpm = _IQmpy(STVELCTL_getFriction(stObj->velCtlHandle), _IQ(ST_SPEED_PU_PER_KRPM * USER_IQ_FULL_SCALE_CURRENT_A));

  // get the Velocity Controller error
  gMotorVars.SpinTAC.VelCtlErrorID = STVELCTL_getErrorID(stObj->velCtlHandle);

  // get the Position Converter error
  gMotorVars.SpinTAC.PosConvErrorID = STPOSCONV_getErrorID(stObj->posConvHandle);
*/
  return;
} // end of updateGlobalVariables_motor() function


void updateKpKiGains(CTRL_Handle handle)
{
  if((gMotorVars.CtrlState == CTRL_State_OnLine) && (gMotorVars.Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate == false))
    {
      // set the kp and ki speed values from the watch window
/*      CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars.Kp_spd);
      CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars.Ki_spd);
*/
      // set the kp and ki current values for Id and Iq from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars.Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars.Ki_Idq);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars.Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars.Ki_Idq);
	}

  return;
} // end of updateKpKiGains() function


void ST_runPosConv(ST_Handle handle, ENC_Handle encHandle, CTRL_Handle ctrlHandle)
{
	ST_Obj *stObj = (ST_Obj *)handle;

	// get the electrical angle from the ENC module
    STPOSCONV_setElecAngle_erev(stObj->posConvHandle, ENC_getElecAngle(encHandle));

    if(USER_MOTOR_TYPE ==  MOTOR_Type_Induction) {
      // The CurrentVector feedback is only needed for ACIM
      // get the vector of the direct/quadrature current input vector values from CTRL
      STPOSCONV_setCurrentVector(stObj->posConvHandle, CTRL_getIdq_in_addr(ctrlHandle));
    }

	// run the SpinTAC Position Converter
	STPOSCONV_run(stObj->posConvHandle);

	if(USER_MOTOR_TYPE ==  MOTOR_Type_Induction) {
	  // The Slip Velocity is only needed for ACIM
	  // update the slip velocity in electrical angle per second, Q24
	  SLIP_setSlipVelocity(slipHandle, STPOSCONV_getSlipVelocity(stObj->posConvHandle));
	}
}

/*
void ST_runVelCtl(ST_Handle handle, CTRL_Handle ctrlHandle)
{
    _iq speedFeedback, iqReference;
    ST_Obj *stObj = (ST_Obj *)handle;
    CTRL_Obj *ctrlObj = (CTRL_Obj *)ctrlHandle;

    // Get the mechanical speed in pu
    speedFeedback = STPOSCONV_getVelocityFiltered(stObj->posConvHandle);

	// Run the SpinTAC Controller
	// Note that the library internal ramp generator is used to set the speed reference
    STVELCTL_setVelocityReference(stObj->velCtlHandle, TRAJ_getIntValue(ctrlObj->trajHandle_spd));
	STVELCTL_setAccelerationReference(stObj->velCtlHandle, _IQ(0.0));	// Internal ramp generator does not provide Acceleration Reference
	STVELCTL_setVelocityFeedback(stObj->velCtlHandle, speedFeedback);
	STVELCTL_run(stObj->velCtlHandle);

	// select SpinTAC Velocity Controller
	iqReference = STVELCTL_getTorqueReference(stObj->velCtlHandle);

	// Set the Iq reference that came out of SpinTAC Velocity Control
	CTRL_setIq_ref_pu(ctrlHandle, iqReference);
}
*/

//@} //defgroup
// end of file

0 ChrisClearman over 10 years ago in reply to chao yang

TI__Guru** 119680 points

I assume your project uses ctrlQEP correct?
in this file you will see that electricalAngle is the electrical angle being sent into the control system.
you should observe this value

it certainly doesn't seem like the stator flux is being produced at the correct angle relative to the rotor flux

0 chao yang over 10 years ago in reply to ChrisClearman

Expert 1620 points

"in this file you will see that electricalAngle is the electrical angle being sent into the control system.
you should observe this value"

OK,electricalAngle is not a global variable,I can not observe electricalAngle directly.So I added a global variable "gElectricalAngle" in ctrlQEP.c for test.

Then I executed programs......I got the same result as above:gElectricalAngle was changing all the time when the motor run.If I stalled the motor by my fingers,the value of gElectricalAngle hardly changed.

Moreover,I can not find any abnormal phenomena about the motor phase current.

And I think the phase sequence of motor is correct according to the directions:

The board and motor all bought from TI.So engineers in TI can use DRV8301-69M-KIT to run Teknic M-2310P-LN-04K motor by my code file lab12b.c.I think you will dope out a solution to the problem quickly.

0 chao yang over 10 years ago in reply to chao yang

Expert 1620 points

That remains an open question....

0 ChrisClearman over 10 years ago in reply to chao yang

TI__Guru** 119680 points

chao,
we aren't going to set this up and run. the torque control with InstaSPIN-motion isn't a supported lab that we provided.

I don't understand exactly what is happening.
It doesn't seem like you are providing a large enough Iq_Ref_A, but even with a small value it should continue to provide that same torque at stall. I would try increasing this value to verify the torque. If it still isn't providing torque there must be a problem with the electrical angle. Either you are using the wrong one (like the one from FAST) in your control system, or the one generated from the encoder is becoming corrupted / mis-aligned.

that's all I can think of

0 Adam D. Reynolds over 10 years ago in reply to ChrisClearman

Guru 12800 points

I agree with Chris. For the Teknic motor an IqRef of ~0.3A is less than 5% of the maximum torque of the motor. With that small of a torque command I would expect that the motor would be very easy to stall and that while stalled the electrical angle should not be changing.

Everything you are describing sounds exactly how I would expect the system to operate.

0 ChrisClearman over 10 years ago in reply to Adam D. Reynolds

TI__Guru** 119680 points

I would expect at stall that the IqRef_A torque is still being provided....but it's a very small amount. I'd like to see you try this with at least 1.0 amp.

0 chao yang over 10 years ago in reply to Adam D. Reynolds

Expert 1620 points

Thank you for your reply.
I have done some experiments.I made gMotorVars.IqRef_A = 1.0,motor span quickly （about 11Krpm） and the bus current was 1.1A.When I stalled the motor by my fingers,the bus current is only 0.1A,the rotor produced very samll torque at 0RPM.
But in my view if I stall the motor by my fingers, the bus current should be more than 1.1A,right?Do I have scientific knowledge error?

0 ChrisClearman over 10 years ago in reply to chao yang

TI__Guru** 119680 points

when using a properly aligned encoder, when you apply load greater than the torque command, it should stall the rotor but still provide the torque commanded.

yours is not, which suggests that the angle being used in the control system is incorrect.

0 chao yang over 10 years ago in reply to ChrisClearman

Expert 1620 points

My experiments' result : no load was present,if I set gMotorVars.IqRef_A = 1.0,the motor span quickly （about 11Krpm） and the bus current was 1.1A.
Now let us suppose the angle being used in the control system is correct.Then when you apply load greater than the torque command,What do you think how much the bus current should be ?

0 ChrisClearman over 10 years ago in reply to chao yang

TI__Guru** 119680 points

I don't know what the bus current should be. There isn't a fixed relationship.
I know that your Iq_Ref_A will saturate to the USER_MOTOR_MAX_CURRENT_A value in user.h
And with an encoder torque should continue to be provided.

Having your bus current larger than your IqRef value is surprising. It leads me to think that your Id is not controlled well (because the angle is incorrect) resulting in non-zero Id which results in a larger total current.

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