MCF8329A: Optimization of the parameters to reduce the current

rongwei mao

Part Number: MCF8329A

Tool/software:

I am testing the motor drive evm board. With the help of Dhinesh, I am able to make it run: RE: MCF8329A: Not able to complete MPET testing, not be able to start the motor using knob

The motor runs pretty well, but there are couple issues.

1) the current is very higher than expected. I have another motor driver testing the same motor. The current is at least 20% lower.

the Id is high. Sometime it is positive, sometime negative. Maybe the angle is not correctly set(according to chatgpt), but didn't find a way to adjust.

2) the nmos is very hot. I only use up to 4A to drive the motor. On another motor driver, the nmos is very cool at 4A current.

Certainly we can't simply compare this because nmos is different, but the big nmos shouldn't be this hot at 4A. If leave there for 1min, you finger can't touch it.

There must be a big room to improve.

This is what i did so far.

I measured the motor inductance and resistor with LCR meter, so the value shall be close enough.

Then i use the motor studio to run Ke measurement at 300Hz (it failed at 1000Hz, but it works at 300Hz as the max).

Then i switch to I2C speed control, I can run the motor at 11000rpm. The current from power supply is about 3.43A, The bus current shown in the figure is only 1.6A. Don't understand the exact meaning.

Id is very high.

I tune the BEMF value from 8-10 (measured by MPET is 9), there is no change of the total current, so BEMF value is not the issue.

Please help to instruct how to optimize

1 month ago

0 Dhinesh 1 month ago

TI__Expert 4155 points

Hi,

I see deadtime configured in shared tuning file is very low (50ns), Please change it 350ns.

We need to use motor phase resistance and inductance values for CLOSED_LOOP2->MOTOR_RES and CLOSED_LOOP2->MOTOR_IND register settings, not the one measured across two phases. Please confirm.

Thanks,

Dhinesh

0 rongwei mao 1 month ago in reply to Dhinesh

Prodigy 50 points

Quick reply. For the inductance and resistance, i use the measured value /2 as the value needed.

I will test the deadtime tuning and let you know

thanks

0 rongwei mao 1 month ago in reply to rongwei mao

Prodigy 50 points

I tuned some time of deadtime

200ns is the best. 150ns setting has slightly larger current.

250ns triggers starting error, which may be fixed by other setting.

At 200ns setting, the current is much much lower than before. dropping from 3.65A-> 2.23A, this is significant improvement.

After turn on deadtime compensation enable , it can run at 250ns-300ns, current drops very slightly. like from 2.23A to 2.20A (1%).

My current issue is the Id fluctuates a lots. Suggestion on that?

After enable the compensation, it is easy to start. 250ns slightly has lower current (very minor)

register3-250ns.csv

0 rongwei mao 1 month ago in reply to rongwei mao

Prodigy 50 points

Dhinesh

The deadtime of 250ns with compensation is good.

The problem now is I can only push up to 850Hz. The max limit I set to 1200Hz.

The reference torque pi 40% is OK, but when i increase to 50%, it makes worse.

How to tune these parameters to push up to 1000Hz and reduce the fluctuation of Id current?

Thanks

register4-250ns-Ilimit50p.csv

0 Dhinesh 1 month ago in reply to rongwei mao

TI__Expert 4155 points

Hi,

can you try using PWM frequency (CLOSED_LOOP1->PWM_FREQ_OUT) as 20Khz?

Also, please check whether you are able to reach maximum speed by running the motor in current control (PERI_CONFIG1->CTRL_MODE= current control).

Thanks,

Dhinesh

0 rongwei mao 1 month ago in reply to Dhinesh

Prodigy 50 points

I tested with 30kHz, it looks worse. it is able to push to 800Hz, not above

For current control, i am not be able to tune a good status, very difficult to start motor, and not stable

it looks current loop has issue?

0 Venkatadri Shantaram84961 1 month ago in reply to rongwei mao

TI__Mastermind 25922 points

Dhinesh is OOO today, until he returns let me take this question.

I am starting with context from recent post about current control loop not working.

I see current KP, KI is programmed with value 0.2 and 10, how did we get this number?

I recommend write 0 to these fields and allow device to calculate and use and then optimize it if needed.

Also, closed loop acceleration is 500, check by reducing.

Also, try to use PWM frequency 25kHz/20kHz.

Thanks and Best regards

Venkatadri S

0 Dhinesh 1 month ago in reply to Venkatadri Shantaram84961

TI__Expert 4155 points

Hi,

We have released a new version of the Motor Studio GUI (0.1.34), which includes SmartTune support for the MCF8329A. The SmartTune algorithm helps to identify not only the motor's electrical parameters but also the motor startup parameters, such as open-loop acceleration rate and current. Please refer to the links below for more details.

1. SmartTune demo: Introducing SmartTune: Automatically Tune your Motor Parameters | Video | TI.com

2. SmartTune app notes: SmartTune User Guide: How to Quickly Setup and Spin Your 3-Phase BLDC Motor

3. Important FAQ about SmartTune: (11) [FAQ] MOTORSTUDIO: SmartTune FAQ - Motor drivers forum - Motor drivers - TI E2E support forums

Thanks,

Dhinesh

0 rongwei mao 1 month ago in reply to Dhinesh

Prodigy 50 points

I tried the auto tune. it is amazing tool. At least i saw it running to 1000Hz.

there are couple questions>

1). when i use auto tune, I have to type the motor parameters like inductor, resistance, otherwise it can't run through.

2)after running, it recommend to use 60Khz, which is very high for 1kHz running frequency, but when I switch back to config page, the frequency is set to 25kHz ?, And the motor parameter like poles are wrong. it shall be 4pairs(8pole).

So what is the correct procedure to do the auto tuning. I assume to just input all these parameters as shown in the figure is enough.

After tuning, what parameter shall be kept or what parameters shall be correct?

Thanks

0 rongwei mao 1 month ago in reply to rongwei mao

Prodigy 50 points

I completed the auto-tune process.

There are couple issues still dont understand.

1) after tuning, the evm board will turn on the motor again and run it it at low speed. I can't control the speed by tuning i2c speed.

2)how can further tuning the parameters? Or how can i combine the old parameters and the new parameters.?

As i mentioned earlier, the auto tune process is great, but there are a few discrepancy I can't figure out.

Any more tutorial of the tuning process?

Thanks

0 rongwei mao 1 month ago in reply to rongwei mao

Prodigy 50 points

After I reload the register(the one generated by the motor tuning after completion), the register is saved to eeprom.

reboot everything.

then I try to tune the speed by i2c, it automatically go to Ke measurement mode. I didn't try to run the MPET mode

Turn the I2C speed doesn't help anything.

sounds the auto tune has bug in the software such that it didn't complete the ke measurement during auto tune process.

Any further instruction to follow?

Thanks

0 Dhinesh 1 month ago in reply to rongwei mao

TI__Expert 4155 points

Hi,

Please check the motor resistance, inductance, BEMF, and speed loop Kp and Ki parameters in the regmap page before running the motor. If any of these parameters are set to 0, then MPET will automatically start running with the I2C speed command.

After a successful SmartTune run, please perform an EEPROM write and do a power cycle of the board before you start running the motor.

Thanks,

Dhinesh

0 rongwei mao 1 month ago in reply to Dhinesh

Prodigy 50 points

after I complete the auto tuning, it says it completely successfully.

Then i write to eeprom and also save the register to file as backup.

After repower the system, it automatically goes to the running mode, And it keep running . didn't see the sign to stop

What should i do next?

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x24A2D419",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x534C0740",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2C826004",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x26A1C1BA",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0BAC2A09",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1CE37C74",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x00C01770",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"REF_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"REF_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"REF_PROFILES3",
"value":"0x00000004",
"addr":"0x00000098"
},
{
"idx":11,
"id":"REF_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"REF_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"REF_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x344228A7",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x75422EE8",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x09428005",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x02008320",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x48067B09",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x05A00002",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x83E8E006",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x698C5CC0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C04807A",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x000402AA",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x0000FFF4",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x0A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x8A500000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000001",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x0239036D",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x7FFFFFFF",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x00000000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x00000000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0x00000000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x033D0000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x01F72926",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x01F56DBF",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x01F1193C",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x00000000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0x00000000",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x00000000",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x00000000",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x017109E4",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x01D44688",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x008D1AA8",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x01ACD7E2",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x018FC792",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000000",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

0 Dhinesh 1 month ago in reply to rongwei mao

TI__Expert 4155 points

Hi,

we are trying to reproduce this issue.

could you please confirm that the shared JSON captured after device power cycle? if not, please do read all registers and check the motor parameters.

Thanks,

Dhinesh

0 rongwei mao 1 month ago in reply to Dhinesh

Prodigy 50 points

I redo the whole process. Please check the history.

auto tune is complete. I saved to eeprom, and save the register as file: register-2 after auto tune.csv (json too)

I double check the parameters . the parameter has been reset to some values by auto tune automatically.

Then I power off everything. turn off the software too.

Turn on power again.

After reboot the system, it automatically try to turn on the motor. Failed couple times and starts finally.

Stable at 1013Hz.

Then I enable the I2C. I pull the speed to 11%. The speed shots up to >800 in a second, then slow down, it doesn't make sense at all.

I can't control the starting process.

There must be something wrong with the software.

Please try to reproduce

0 Dhinesh 1 month ago in reply to rongwei mao

TI__Expert 4155 points

Hi,

We debugged the previous issue and found that the speed loop Kp and Ki values were set to zero in the JSON file you shared. Since these values are zero, MPET starts running when you give a speed command.

In the last tuning file, the speed loop constants were captured, but they appear to be incorrect (Kp = 0.0045, Ki = 0.0001). Could you please try running the motor in current control mode to confirm that all other parameters are working fine? Please change PERI_CONFIG->CTRL_MODE to current control mode

Thanks,

Dhinesh

0 rongwei mao 29 days ago in reply to Dhinesh

Prodigy 50 points

Following your instruction, i switch to current control mode. Under current control mode, I am able to tune the speed from lower to up to 1000Hz.

If speed is too low like <20%, it is difficult to start or stable. But it is stable above that.

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x24A2D419",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x138C0740",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2C826004",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x26A1C0BA",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0BAC2A08",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1BE33C74",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x2DC05770",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"REF_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"REF_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"REF_PROFILES3",
"value":"0x00000004",
"addr":"0x00000098"
},
{
"idx":11,
"id":"REF_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"REF_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"REF_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x344228A7",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x75422F78",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x09428005",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x02008320",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x48081B09",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x05A00002",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x83E8E006",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x698C5CE0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C04807A",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x000402AA",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x31B60004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x0A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x8A500000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x038E0319",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x0471C718",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x06640000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFD540000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFBDE0000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03418000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x017541C6",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x038F0F07",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x031869C9",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0xF8000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x06520000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFF1A36EF",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x003E161E",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFFFF8AA2",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0xFF873265",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x00925D49",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x004AD1D1",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x013D40B2",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x06664E40",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x04CCBAB0",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x055E3DAE",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000000",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0xFFFFD375",
"addr":"0x00000774"
}
]
]
}

register3.csv

For your convenience, i attached the json and csv data of the register after switch to current control mode.

Here is what i found:

1) either with current control mode or speed control mode. the system try to start the motor (without software), but just spin and stop, again and again, not be able to start. After the software connected, i can control the motor to start from low speed like 20%(not very low). Why?

How can i achieve leave the motor not spin up at power on

2) At current control mode, I can start from roughly 20% to spin the motor, above that it is stable

3)speed control mode. The motor spin at a very high speed to start and then slow down

3)The motor parameters like poles number seems totally has no use. After auto tune it is set to 1pairs, The actually value is 4 pairs.

4)by default it set the current sense gain to 20v/v, I only need up to 10A(actually only need 6A). software automatically set to 20v/v. Should I switch to 40V/V for better accuracy. Can GUI optimize that too.

Overall, the auto tune feature is great even with some bugs.

How do I further optimize these number to be stable and easier control

After tune, the Id and Iq seems not showing up anymore, always to be 0.

How do i evaluate the efficiency ?

Thank you

0 Dhinesh 29 days ago in reply to rongwei mao

TI__Expert 4155 points

Hi,

I have modified some of the start-up parameters for better motor startup. I am attaching the modified tuning file.

In the shared JSON file, the control mode was configured as PWM duty control mode. With the speed pin being high (100%), the motor will immediately start after power-on.
Please use the attached tuning file.
The speed loop Ki is very low. Try increasing it and check the speed overshoot.
There is no parameter for the motor's number of pole pairs; FG_DIV is the configuration for the FG signal division factor.
Yes, the CSA gain can be increased to reduce the base current. Please note that the BASE_CURRENT parameter needs to be updated along with the CSA gain change. Thanks for highlighting the Iq and Id display issue. I will update you after debugging the issue

Regards,

Dhinesh

0 rongwei mao 29 days ago in reply to Dhinesh

Prodigy 50 points

I didn't see the json file. would you please reattach it?

1) Where to set the duty control mode? Is the PWM duty control mode is the default value set by the auto tuning?

2) i missed the tuning file

3) For Ki, I will try it tomorrow.

4)FG_Div is the number i am talking about. By default it is set to 1 pairs. My question is the actual number is 4 pairs. How come it still work by set a wrong number? Or this number is only used for conversion to RPM, doesn't affect the motor running at all.

5)I will try it

If Ti can provide a instruction of optimize the parameters with the assistance of auto tune, that will be great.

Thanks

0 Dhinesh 28 days ago in reply to rongwei mao

TI__Expert 4155 points

Hi,

I have attached the JSON file.

1. PIN_CONFIG->SPEED_MODE is the register setting to change the control mode from PWM duty to I2C mode

4. FG_DIV number is only used for applying division factor to the FG signal. It doesn't affect the motor running.

Fullscreen MCF8329A_e2e_reg.json Download

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x24A2D419",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x098C0740",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2BA26007",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x26A140BA",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0BAC2A08",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1BE33C74",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x2DC05770",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"REF_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"REF_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"REF_PROFILES3",
"value":"0x00000004",
"addr":"0x00000098"
},
{
"idx":11,
"id":"REF_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"REF_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"REF_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x344228A7",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x75422F78",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x09428005",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x02008320",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x48081B0A",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x05A00002",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x83E8E006",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x698C5CE0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C04807A",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x000402AA",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x31B60004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x0A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x8A500000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x038E0319",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x0471C718",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0x06640000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0xFD540000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFBDE0000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x03418000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x017541C6",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x038F0F07",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x031869C9",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0xF8000000",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x00000000",
"addr":"0x000004AC"
},
{
"idx":14,
"id":"IALPHA",
"value":"0x06520000",
"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFF1A36EF",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x003E161E",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0xFFFF8AA2",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0xFF873265",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x00925D49",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
"value":"0x004AD1D1",
"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x013D40B2",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x06664E40",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x04CCBAB0",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x055E3DAE",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
"value":"0x00000000",
"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
"value":"0x00000000",
"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
"id":"ED",
"value":"0x00000000",
"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
"value":"0x00000000",
"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0xFFFFD375",
"addr":"0x00000774"
}
]
]
}

Thanks,

Dhinesh

0 rongwei mao 27 days ago in reply to Dhinesh

Prodigy 50 points

I tried the register value you sent. it is very difficult to startup. looks stuck at open loop. it kept tried again.

Based on the register I mentioned earlier, and tune the Kp Ki as you suggested, it looks it overshot much less, but still overshot.

It is able to start and stable at lower speed to high speed(up to 1000Hz).

The Id and Iq still didn't shows the value.

My next step will be fine tuning the parameters. it is close to what i need.

1) starting time slightly slow. it takes about 2seconds to start

2)startup speed overshot

3)fine tune to get better efficiency. The current consumption is still slightly higher than another chip from toshiba.

The json file is attached.

By the way, if i plan to use this one to future development of water pump application. How fast does the chip can response to signal like pulse width or analog signal or i2c command? In one of the application, there is needs that shutting down the pump right after detect an external alert signal. That means the driver needs to shutdown immediately (with 10ms, at least response time is about 10ms or less to response) when signal is received. Once the signal received, the motor should go to power off mode, or brake mode.

Can this be achievable?

Thanks

{
"signature":"oneui-register-data",
"data":[
[
{
"idx":0,
"id":"ISD_CONFIG",
"value":"0x24A2D419",
"addr":"0x00000080"
},
{
"idx":1,
"id":"REV_DRIVE_CONFIG",
"value":"0x48300000",
"addr":"0x00000082"
},
{
"idx":2,
"id":"MOTOR_STARTUP1",
"value":"0x138C0740",
"addr":"0x00000084"
},
{
"idx":3,
"id":"MOTOR_STARTUP2",
"value":"0x2C826004",
"addr":"0x00000086"
},
{
"idx":4,
"id":"CLOSED_LOOP1",
"value":"0x26A1C0BA",
"addr":"0x00000088"
},
{
"idx":5,
"id":"CLOSED_LOOP2",
"value":"0x0BAC2A08",
"addr":"0x0000008A"
},
{
"idx":6,
"id":"CLOSED_LOOP3",
"value":"0x1BE33C74",
"addr":"0x0000008C"
},
{
"idx":7,
"id":"CLOSED_LOOP4",
"value":"0x55C3D770",
"addr":"0x0000008E"
},
{
"idx":8,
"id":"REF_PROFILES1",
"value":"0x00000000",
"addr":"0x00000094"
},
{
"idx":9,
"id":"REF_PROFILES2",
"value":"0x00000000",
"addr":"0x00000096"
},
{
"idx":10,
"id":"REF_PROFILES3",
"value":"0x00000004",
"addr":"0x00000098"
},
{
"idx":11,
"id":"REF_PROFILES4",
"value":"0x00000000",
"addr":"0x0000009A"
},
{
"idx":12,
"id":"REF_PROFILES5",
"value":"0x00000000",
"addr":"0x0000009C"
},
{
"idx":13,
"id":"REF_PROFILES6",
"value":"0x00000000",
"addr":"0x0000009E"
}
],
[
{
"idx":0,
"id":"FAULT_CONFIG1",
"value":"0x344228A7",
"addr":"0x00000090"
},
{
"idx":1,
"id":"FAULT_CONFIG2",
"value":"0x75422F78",
"addr":"0x00000092"
}
],
[
{
"idx":0,
"id":"INT_ALGO_1",
"value":"0x09428005",
"addr":"0x000000A0"
},
{
"idx":1,
"id":"INT_ALGO_2",
"value":"0x02008320",
"addr":"0x000000A2"
}
],
[
{
"idx":0,
"id":"PIN_CONFIG",
"value":"0x48081B0A",
"addr":"0x000000A4"
},
{
"idx":1,
"id":"DEVICE_CONFIG1",
"value":"0x05A00002",
"addr":"0x000000A6"
},
{
"idx":2,
"id":"DEVICE_CONFIG2",
"value":"0x83E8E006",
"addr":"0x000000A8"
},
{
"idx":3,
"id":"PERI_CONFIG1",
"value":"0x698C5CC0",
"addr":"0x000000AA"
},
{
"idx":4,
"id":"GD_CONFIG1",
"value":"0x0C04807A",
"addr":"0x000000AC"
},
{
"idx":5,
"id":"GD_CONFIG2",
"value":"0x000402AA",
"addr":"0x000000AE"
}
],
[
{
"idx":0,
"id":"GATE_DRIVER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E0"
},
{
"idx":1,
"id":"CONTROLLER_FAULT_STATUS",
"value":"0x00000000",
"addr":"0x000000E2"
}
],
[
{
"idx":0,
"id":"ALGO_STATUS",
"value":"0x68280004",
"addr":"0x000000E4"
},
{
"idx":1,
"id":"MTR_PARAMS",
"value":"0x00000000",
"addr":"0x000000E6"
},
{
"idx":2,
"id":"ALGO_STATUS_MPET",
"value":"0x0A000000",
"addr":"0x000000E8"
}
],
[
{
"idx":0,
"id":"ALGO_CTRL1",
"value":"0x00000000",
"addr":"0x000000EA"
}
],
[
{
"idx":0,
"id":"ALGO_DEBUG1",
"value":"0x80000000",
"addr":"0x000000EC"
},
{
"idx":1,
"id":"ALGO_DEBUG2",
"value":"0x00000000",
"addr":"0x000000EE"
},
{
"idx":2,
"id":"CURRENT_PI",
"value":"0x038E0319",
"addr":"0x000000F0"
},
{
"idx":3,
"id":"SPEED_PI",
"value":"0x00000000",
"addr":"0x000000F2"
},
{
"idx":4,
"id":"DAC_1",
"value":"0x00000000",
"addr":"0x000000F4"
}
],
[
{
"idx":0,
"id":"ALGORITHM_STATE",
"value":"0x00000000",
"addr":"0x00000196"
},
{
"idx":1,
"id":"FG_SPEED_FDBK",
"value":"0x001DAE60",
"addr":"0x0000019C"
},
{
"idx":2,
"id":"BUS_CURRENT",
"value":"0x00000000",
"addr":"0x0000040E"
},
{
"idx":3,
"id":"PHASE_CURRENT_A",
"value":"0xFFFE0000",
"addr":"0x0000043C"
},
{
"idx":4,
"id":"PHASE_CURRENT_B",
"value":"0x000C0000",
"addr":"0x0000043E"
},
{
"idx":5,
"id":"PHASE_CURRENT_C",
"value":"0xFFF60000",
"addr":"0x00000440"
},
{
"idx":6,
"id":"CSA_GAIN_FEEDBACK",
"value":"0x00000001",
"addr":"0x00000450"
},
{
"idx":7,
"id":"VOLTAGE_GAIN_FEEDBACK",
"value":"0x00000000",
"addr":"0x00000458"
},
{
"idx":8,
"id":"VM_VOLTAGE",
"value":"0x033C0000",
"addr":"0x0000045C"
},
{
"idx":9,
"id":"PHASE_VOLTAGE_VA",
"value":"0x02B15B30",
"addr":"0x00000460"
},
{
"idx":10,
"id":"PHASE_VOLTAGE_VB",
"value":"0x02AEC214",
"addr":"0x00000462"
},
{
"idx":11,
"id":"PHASE_VOLTAGE_VC",
"value":"0x02AD06AD",
"addr":"0x00000464"
},
{
"idx":12,
"id":"SIN_COMMUTATION_ANGLE",
"value":"0xFEAD708B",
"addr":"0x000004AA"
},
{
"idx":13,
"id":"COS_COMMUTATION_ANGLE",
"value":"0x07E11040",
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},
{
"idx":14,
"id":"IALPHA",
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"addr":"0x000004CC"
},
{
"idx":15,
"id":"IBETA",
"value":"0xFDFAB1B5",
"addr":"0x000004CE"
},
{
"idx":16,
"id":"VALPHA",
"value":"0x017C097A",
"addr":"0x000004D0"
},
{
"idx":17,
"id":"VBETA",
"value":"0x0221E922",
"addr":"0x000004D2"
},
{
"idx":18,
"id":"ID",
"value":"0x03088B1C",
"addr":"0x000004DC"
},
{
"idx":19,
"id":"IQ",
"value":"0x01FD1867",
"addr":"0x000004DE"
},
{
"idx":20,
"id":"VD",
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"addr":"0x000004E0"
},
{
"idx":21,
"id":"VQ",
"value":"0x025A167A",
"addr":"0x000004E2"
},
{
"idx":22,
"id":"IQ_REF_ROTOR_ALIGN",
"value":"0x00000000",
"addr":"0x0000051A"
},
{
"idx":23,
"id":"SPEED_REF_OPEN_LOOP",
"value":"0x00000000",
"addr":"0x00000532"
},
{
"idx":24,
"id":"IQ_REF_OPEN_LOOP",
"value":"0x04CCBAB0",
"addr":"0x00000542"
},
{
"idx":25,
"id":"SPEED_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x000005D0"
},
{
"idx":26,
"id":"ID_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060A"
},
{
"idx":27,
"id":"IQ_REF_CLOSED_LOOP",
"value":"0x00000000",
"addr":"0x0000060C"
},
{
"idx":28,
"id":"ISD_STATE",
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"addr":"0x000006B0"
},
{
"idx":29,
"id":"ISD_SPEED",
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"addr":"0x000006BA"
},
{
"idx":30,
"id":"IPD_STATE",
"value":"0x00000000",
"addr":"0x000006E4"
},
{
"idx":31,
"id":"IPD_ANGLE",
"value":"0x00000000",
"addr":"0x0000071A"
},
{
"idx":32,
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"addr":"0x0000075C"
},
{
"idx":33,
"id":"EQ",
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"addr":"0x0000075E"
},
{
"idx":34,
"id":"SPEED_FDBK",
"value":"0x00000000",
"addr":"0x0000076E"
},
{
"idx":35,
"id":"THETA_EST",
"value":"0x00000000",
"addr":"0x00000774"
}
]
]
}

0 Dhinesh 26 days ago in reply to rongwei mao

TI__Expert 4155 points

Hi,

Reduce the speed loop Kp to minimize the speed overshoot. I see from the shared JSON that CL_ACC is configured as 1000Hz/s, reducing CL_ACC also helps to minimizing the speed overshoot and improve the startup performance.

we will look into the id and Iq display issue. it can be a GUI update issue. could you please directly read these variable data from the Regmap->Algorithm Variables.

1. do you need align time of 4s? you can reduce this time or switch to IPD startup mode for faster startup. Also, you can adjust the BRAKE_TIME to bring down the startup time.

2. Adjust the speed loop Kp and CL_ACC to minimize the speed overshoot

3. can you try reducing the PWM switching frequency (PWM_FREQ_OUT) from 25Khz to 20Khz? we get better DC bus utilization at 20Khz

Device will respond immediately to the stop command. Please refer the datasheet chapter "Table 7-6. Conditions to Enter or Exit Sleep Modes" for more details.

Thanks,

Dhinesh