TMS320F28027F： How to achieve damping mode?

Luo XiuFeng

Part Number: TMS320F28027F
Other Parts Discussed in Thread: LAUNCHXL-F28027F

Hello, the development board I use is LAUNCHXL-F28027F + BOOSTXL-DRV83. The development needs I am facing now are:
When the motor is at rest, it is in a static state, but when I rotate it with my hand or load, it will generate resistance with a fixed torque. When my hand is released, it remains still.

How can I start? I noticed that in the lab5b project, I first turned off the forced angle and set the speed to 0. When I turned the motor by hand, the motor would slowly increase the torque along with the rotation of my hand, but after my hand was released, The motor seems to turn to the position where I started to rotate it. If I keep rotating it, it will shake or oscillate at a certain moment, but I think this project is close to my needs. How can I change this project to meet my needs? My product needs?

Thank you! Best wishes!

over 3 years ago

0 Yanming Luo over 3 years ago

TI__Guru** 109730 points

What control mode do you want to implement? Torque control, speed closed-loop, or position control?

I don't think this is the right testing method by adding the load with a hand. You should know the rated torque of the motor and add the right load to the motor.

0 Luo XiuFeng over 3 years ago in reply to Yanming Luo

Intellectual 676 points

We are a product similar to a stepper, which can drive people's feet to step by speed. I can easily control the speed through the speed loop of lab5b, but there is no progress in the damping mode. I hope that when the product is in the damping mode, The motor itself does not move. When the human foot exerts force (the structure of the product can be imagined as a bicycle pedal, the human foot is to step on the pedal and make a circular motion), there will be a resistance in the opposite direction. And I hope to adjust the size of this resistance. When my feet do not use force, the resistance of the motor will disappear. It is weak and static. Can you tell me how to achieve it, or the best way to start from that project?

0 Yanming Luo over 3 years ago in reply to Luo XiuFeng

TI__Guru** 109730 points

You should use a stepper or implement sensored-foc for PMSM/BLDC, the sensorless-foc is difficult to get a fast and good response at the low speed and startup.

0 Luo XiuFeng over 3 years ago in reply to Yanming Luo

Intellectual 676 points

Is it feasible to add Hall sensor? But I don't see an example of the f28027f Hall sensor

0 Yanming Luo over 3 years ago in reply to Luo XiuFeng

TI__Guru** 109730 points

There are some reference designs and codes for motor control includes BLDC drive with senored-FOC or hall sensor based trapezoidal control, please refer to the link below. You might migrate the related example to F28027 for your application.

[FAQ]Getting Started with C2000 MCUs for Motor Control

https://e2e.ti.com/support/microcontrollers/c2000/f/171/t/864875?tisearch=e2e-sitesearch&keymatch=faq%3Atrue

C2000™︎ microcontrollers

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TMS320F28027F： How to achieve damping mode?