Compiler/DRV8303: Question about start to rotate with InstaSpin FOC speed control

Hiroyasu Matsubara

Expert 1405 points

Part Number: DRV8303
Other Parts Discussed in Thread: MOTORWARE

Tool/software: TI C/C++ Compiler

Hello,

I would like to ask a question about InstaSpin Speed Control.

I'm trying to control a blushless motor (7 pole pair) on our
custom board with InstaSpin - lab 5b.

When start to rotate the motor by speed control,
sometimes could not start to rotate.

The sequence of start rotate is:
1. reset some PID control variables:

CTRL_setUi(handle,CTRL_Type_PID_spd,0);
CTRL_setUi(handle,CTRL_Type_PID_Id,0);
CTRL_setUi(handle,CTRL_Type_PID_Iq,0);

ctrlHandle->traj_spd.targetValue = _IQ(0.0);
ctrlHandle->Vab_in.value[0] = _IQ(0.0);
ctrlHandle->Vab_in.value[1] = _IQ(0.0);
ctrlHandle->Vab_out.value[0] = _IQ(0.0);
ctrlHandle->Vab_out.value[1] = _IQ(0.0);
ctrlHandle->Vdq_out.value[0] = _IQ(0.0);
ctrlHandle->Vdq_out.value[1] = _IQ(0.0);

ctrlHandle->pidHandle_Id->fbackValue = _IQ(0.0);
ctrlHandle->pidHandle_Iq->fbackValue = _IQ(0.0);
ctrlHandle->pidHandle_spd->fbackValue = _IQ(0.0);
2. change the two flags from false to true
(When stop the motor, I set the gMotorVars.Flag_enableSys to false)
gMotorVars.Flag_enableSys = true;
gMotorVars.Flag_Run_Identify = true;

3. set the gMotorVars.SpeedRef_krpm variable from 0 to desired value
(1.0krpm).

And,when could not start rotate,the motor current(gMotorVars.Is_A)
increases to high value rapidly.

I would like to know what the point to be noted to start the motor
certainly, for example , should I reset some other variables when
restart the motor,etc.

Hiroyasu

over 4 years ago

0 Cole Macias over 4 years ago

TI__Mastermind 18900 points

Hello Matsubara-san,

As I contact the C2000 team to help you out, please refer to these resources in the mean time:

The introduction of motor Control with C2000 refer to the link below.
- https://www.ti.com/microcontrollers/c2000-real-time-control-mcus/applications/motor-control.html
The motor drive evaluation boards and software with C2000 refer to the link below.
- https://www.ti.com/microcontrollers/c2000-real-time-control-mcus/design-development.html#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
[FAQ] Trapezoidal Control of BLDC Motors Using Hall Effect Sensors on C2000 Controller
- https://e2e.ti.com/support/microcontrollers/c2000/f/171/t/855709?tisearch=e2e-sitesearch&keymatch=faq%3Atrue

Best,

-Cole

0 Yanming Luo over 4 years ago in reply to Cole Macias

TI__Guru** 115650 points

You might refer to the following 3 documentations to modify the related parameters and device configuration codes in the files of hal.c, hal.h and user.h according to the hardware board. Make sure that the current and voltage sensing circuit of your own hardware board is good for running the motor.

instaspin_labs.pdf at "\ti\motorware\motorware_1_01_00_18\docs\labs"

motorware_hal_tutorial.pdf at "\ti\motorware\motorware_1_01_00_18\docs\tutorials"

InstaSPIN-FOC™ and InstaSPIN-MOTION™ User's Guide http://www.ti.com/lit/ug/spruhj1h/spruhj1h.pdf

1. Change the PWM and ADC configuration in hal.c refer to the guide, motorware_hal_tutorial.pdf.

2. Set correct parameters based on the hardware board in user.h

#define USER_IQ_FULL_SCALE_VOLTAGE_V (xx)

#define USER_VOLTAGE_FILTER_POLE_Hz (xx)

#define USER_ADC_FULL_SCALE_VOLTAGE_V (xx)

#define USER_IQ_FULL_SCALE_CURRENT_A (xx)

#define USER_ADC_FULL_SCALE_CURRENT_A (xx)

3. make sure that the sign of the current coefficient in HAL_readAdcData() in hal.h matches the current sensing circuit. Refer to chapter 5.2.2 Current Feedback Polarity in InstaSPIN user's guide (SPRUHJ1H, http://www.ti.com/lit/ug/spruhj1h/spruhj1h.pdf) to set the sign of the current scale factor.

static inline void HAL_readAdcData(HAL_Handle handle,HAL_AdcData_t *pAdcData)

{

_iq current_sf = HAL_getCurrentScaleFactor(handle);

}

4. Follow the instaSPIN lab guide to use lab01b and lab01c to verify your own hardware since you are not using the TI EVM kits and then run the subsequent labs.

5. Using the lab02b or lab02c to identify the motor parameters, and use the identified parameters to run the motor.

0 Hiroyasu Matsubara over 4 years ago in reply to Yanming Luo

Expert 1405 points

Thank you for your reply.

I checked some parameters as you suggested.

The current scale factor is correct.

I'm trying to detect the motor parameters with lab 2b again.

0 Yanming Luo over 4 years ago in reply to Hiroyasu Matsubara

TI__Guru** 115650 points

You might try to identify the motor using lab02 if it's a low inductance motor. And if the motor parameters can't be identified correctly even though you have tunes the identification variables below based on the spec. of your motor. You have to go back to use lab01b and lab01c to verify your own hardware first before you run the subsequent labs.

You may try to tune the identification variables in the file of the user.h according to the motor.

#define USER_MOTOR_RES_EST_CURRENT (1.0) // A - 10-30% of rated current of the motor

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

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

#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0) // Hz - 10~30% rated frequency of the motor

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Compiler/DRV8303: Question about start to rotate with InstaSpin FOC speed control