I used MPET to obtain the motor parameters.
When I look at the current loop, Kp and Ki are set to zero (shouldn’t there be values for Kp and Ki)?
According to the datasheet, when the current Kp and Ki are zero, they are autocalculated
Where can I find the autocalculated results via the GUI?
Below is a current/torque loop scaling example that TI has provided:
Using R & L values in the example, I don’t seem to properly scale to values I can insert via the GUI. Please show me where I am making an error. If you are trying to represent a value >3.9999, don’t you need at least 3 integer bits?
If Kp = 5.81, to scale into a unsigned 10 bit value (2 integer bits {x} and 8 fractional bits {y} xx.yyyyyyyy)
5.81 <=> xx.yyyyyyyy <=?=> yy=1, xxxxxxxx=58, ó 1 + 58*2^-8 = 1 + 0.226563 = 1.226563
4.1 <=> xx.yyyyyyyy <=?=> yy=1, xxxxxxxx=41, ó 1 + 41*2^-8 = 1 + 0.160156 = 1.160156
Please provide an example for how the Speed loop Kp and Ki's are calculated
