BOOSTXL-DRV8323RH: universal_motorcontrol_lab 4 : what's the relationship between speedRef_Hz and speedEST_Hz

Do you set the correct motor parameters for using FAST estimator in user_mtr1.h and set the right hall angle in hallAngleBuf[] according to the motor you used?

You may try to run the motor in build level 2 and 3 first to verify the settings.

BTW, if you run the motor without speed close-loop, just use the torque control loop by setting the IsRef_A value, the feedback/estimation speeds (speedEST_Hz , or  speedHALL_Hz ) of the motor will not follow the reference speed (speedRef_Hz ), which depends on the torque current, the load and friction of the motor.

Yanming Luo said:

Do you set the correct motor parameters for using FAST estimator in user_mtr1.h and set the right hall angle in hallAngleBuf[] according to the motor you used?

Hi Yanming,

yes I did many times

01. change flag_bypassMotorId = false
02. flagEnableRunAndIdentify = 1
03. motor start spinning
04. motor stop, update these values

#define USER_MOTOR1_TYPE              MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS  (2)    
#define USER_MOTOR1_Rs_Ohm          (0.434060246f)      
#define USER_MOTOR1_Ls_d_H          (0.000499680347f)      
#define USER_MOTOR1_Ls_q_H          (0.000499680347f)     
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0016203199f)

06. turn off identify by flag_bypassMotorId = true
07. change pre-define HALL_CAL_N to HALL_CAL to run HALL_calibrateIndexAngle routine
08. run CURRENT CONTROL mode by flagEnableSpeedCtrl = 0
09. start running by flagEnableRunAndIdentify = 1
10. copy thetaCalBuff[7] value to hallAngleBuf[7] as below 

1->1, 2->2, 3->3, 4->4, 5->5, 6->6, 6->0

const float32_t hallAngleBuf[7] = { -0.772357106f, 2.16005731f, -1.88054085f, -3.03630972f, 0.258178711f, 1.20954204f, -0.772357106f };

11. run both FAST + CURRENT CONTROL and FAST + SPEED CONTROL
12. see below 2 pics, both speedEST_Hz and speedHall_Hz are big different

I remember when motor identify is taking place, motor is spinning at 60Hz both speedEST_Hz and speedHall_Hz are in-sync.

under FAST + SPEED CONTROL, my motor out of control + running fast + noisy ...

enable HALL_CAL to checked with thetaIndexBuff and thetaCalBuff under FAST + SPEED CONTROL, what's these value tell ? 

thanks,

Tiger

Seems like the Flux is too low as you mentioned above.

#define USER_MOTOR1_RATED_FLUX_VpHz (0.0016203199f)

You may try to tune the identification variables in the file of the user header file according to the motor.  And don't add any load on the motor when run this lab for motor parameters identification, to ensure that the motor spins smoothly during Flux measurement and Ls identification states.

#define USER_MOTOR1_RES_EST_CURRENT      (1.5f)                               // A -  10-30% of rated current of the motor

#define USER_MOTOR1_IND_EST_CURRENT      (-1.0f)                             // A -  10-30% of rated current of the motor,  just enough to enable rotation

#define USER_MOTOR1_MAX_CURRENT            (5.0f)                               // A -  30~150%  of rated current of the motor

#define USER_MOTOR1_FLUX_EST_FREQ_Hz     (40.0f)                            // Hz - 10~30% rated frequency of the motor