SPRACO3 October   2019 INA240 , LMG5200 , TMS320F280021 , TMS320F280021-Q1 , TMS320F280023 , TMS320F280023-Q1 , TMS320F280023C , TMS320F280025 , TMS320F280025-Q1 , TMS320F280025C , TMS320F280025C-Q1 , TMS320F280040-Q1 , TMS320F280040C-Q1 , TMS320F280041 , TMS320F280041-Q1 , TMS320F280041C , TMS320F280041C-Q1 , TMS320F280045 , TMS320F280048-Q1 , TMS320F280048C-Q1 , TMS320F280049 , TMS320F280049-Q1 , TMS320F280049C , TMS320F280049C-Q1 , TMS320F28374D , TMS320F28374S , TMS320F28375D , TMS320F28375S , TMS320F28375S-Q1 , TMS320F28376D , TMS320F28376S , TMS320F28377D , TMS320F28377D-EP , TMS320F28377D-Q1 , TMS320F28377S , TMS320F28377S-Q1 , TMS320F28378D , TMS320F28378S , TMS320F28379D , TMS320F28379D-Q1 , TMS320F28379S

 

  1.   Dual-Axis Motor Control Using FCL and SFRA On a Single C2000 MCU
    1.     Trademarks
    2. 1 Introduction
      1. 1.1 Acronyms and Descriptions
    3. 2 Benefits of the C2000 for High-Bandwidth Current Loop
    4. 3 Current Loops in Servo Drives
    5. 4 PWM Update Latency for Dual Motor
    6. 5 Outline of the Fast Current Loop Library
    7. 6 Evaluation Platform Setup
      1. 6.1 Hardware
        1. 6.1.1 LAUNCHXL-F28379D or LAUNCHXL-F280049C
          1. 6.1.1.1 DACs
          2. 6.1.1.2 QEPs
        2. 6.1.2 Inverter BoosterPack - GaN + INA240
        3. 6.1.3 Two Motor Dyno
        4. 6.1.4 System Hardware Connections
        5. 6.1.5 Powering Up the Setup
      2. 6.2 Software
        1. 6.2.1 Incremental Build
        2. 6.2.2 Software Setup for Dual-Axis Servo Drive Projects
    8. 7 System Software Integration and Testing
      1. 7.1 Incremental Build Level 1
        1. 7.1.1 SVGEN Test
        2. 7.1.2 Testing SVGEN With DACs
        3. 7.1.3 Inverter Functionality Verification
      2. 7.2 Incremental Build Level 2
        1. 7.2.1 Connecting motor to INVs
        2. 7.2.2 Testing the Motors and INVs
        3. 7.2.3 Setting Over-current Limit in the Software
        4. 7.2.4 Setting Current Regulator Limits
        5. 7.2.5 Position Encoder Feedback
      3. 7.3 Incremental Build Level 3
        1. 7.3.1 Observation One – Latency
      4. 7.4 Incremental Build Level 4
        1. 7.4.1 Observation
        2. 7.4.2 Dual Motor Run With Speed Loop
      5. 7.5 Incremental Build Level 5
        1. 7.5.1 Dual Motor Run with Position Loop
      6. 7.6 Incremental Build Level 6
        1. 7.6.1 Integrating SFRA Library
        2. 7.6.2 Initial Setup Before Starting SFRA
        3. 7.6.3 SFRA GUIs
        4. 7.6.4 Setting Up the GUIs to Connect to Target Platform
        5. 7.6.5 Running the SFRA GUIs
        6. 7.6.6 Influence of Current Feedback SNR
        7. 7.6.7 Inferences
        8. 7.6.8 Phase Margin vs Gain Crossover Frequency
    9. 8 Summary
    10. 9 References

7.2.2 Testing the Motors and INVs

The motor and INV can be tested by following the steps given below, as the PWM signals are already successfully proven through level 1 incremental build. Connect motor 1 to INV1 and / or motor 2 to INV2 as discussed earlier.

  1. Open "dual_axis_servo_drive_settings.h" and select level 2 incremental build option by setting the BUILDLEVEL to LEVEL2 (#define BUILDLEVEL FCL_LEVEL2).
  2. Select POSITION_ENCODER to QEP_POS_ENCODER. (The same setting for subsequent build levels).
  3. Right-click on the project name and click "Rebuild Project".
  4. When the build is complete, click on debug button, reset CPU, restart, enable real time mode, and run.
  5. Set 'enableFlag' to 1 in the expressions window. The variables named 'motorVars[0].isrTicker' and 'motorVars[1].isrTicker' are incrementally increased as shown in Expressions window to confirm the interrupts are working properly. Now set the variable named 'motorVars[0].runMotor' to MOTOR_RUN, the motor 1 starts spinning after a few seconds if enough voltage is applied to the DC-Bus. In the software, the key variables to be adjusted are as follows:
    1. motorVars[0].speedRef: for changing the rotor speed in per-unit
    2. VdTesting: for changing the d-axis voltage in per-unit
    3. VqTesting: for changing the q-axis voltage in per-unit

During the open loop tests, the variables 'VdTesting', 'VdTesting', 'motorVars[0].speedRef' and DC bus voltage must be adjusted carefully so that the motor runs smoothly without stalling or vibrating.

NOTE

Set 'motorVars[0].clearTripFlagDMC' or 'motorVars[1].clearTripFlagDMC' to 1 to clear the fault flag if the variable, 'motorVars[0].tripFlagDMC' or 'motorVars[1].tripFlagDMC' equals to 1, otherwise, the motorVars[0].runMotor or motorVars[1].runMotor cannot be set to MOTOR_RUN.