SPRAD03 March   2022 AM2431 , AM2431 , AM2432 , AM2432 , AM2434 , AM2434 , AM6411 , AM6411 , AM6412 , AM6412 , AM6421 , AM6421 , AM6422 , AM6422 , AM6441 , AM6441 , AM6442 , AM6442

 

  1.   Trademarks
  2. 1 System Overview
  3. 2 Hardware Prerequisites
  4. 3 Hardware Configuration
  5. 4 HW Pinouts, Default Jumpers, and Connections
  6. 5 Schematics
  7. 6 Jumper Settings and Descriptions
  8. 7 LEDs
  9. 8 Software Architecture
  10. 9 Actuation and Feedback Timing
  11. 10Benchmark Results
    1. 10.1 Motor Control R5F Processing Time
    2. 10.2 Trigger/Capture Point to R5F ISR Entry
  12. 11Detailed Demo User's Guide
    1. 11.1 Step 0. Getting the Software and Building
    2. 11.2 Step 1. Getting Started With the Hardware
    3. 11.3 Step 2. Configure ROQ437 EnDat2.2 Encoder for Faster EnDat 2.2 Recovery Time (only needs to be done once the first time you use the ROQ437 encoder)
    4. 11.4 Step 3. Open Loop Iq Control (BUILDLEVEL == OPEN_LOOP_IQ_ID)
    5. 11.5 Step 4. Closed Loop Iq/Id Control (BUILDLEVEL == CLOSED_LOOP_IQ_ID)
    6. 11.6 Step 5. Closed Loop Speed Control (BUILDLEVEL == CLOSED_LOOP_SPEED)
    7. 11.7 Step 6. Closed Loop Position Control (BUILDLEVEL == CLOSED_LOOP_POSITION)
  13. 12Build Using MCU+SDK 08.00.00.21 & CCS 10.3.1
  14. 13Summary
  15. 14Appendix A: Detailed Motor Control R5F Processing Time
  16. 15References

11.5 Step 4. Closed Loop Iq/Id Control (BUILDLEVEL == CLOSED_LOOP_IQ_ID)

This build level is the first to close the loop using the Phase Current and Angle/Position feedback.

  1. Go to the settings.h file and change the definitions to match the following (closed loop current control, debug buffers on, 8000 cycles per set point):
    GUID-20211108-SS0I-45XV-P4GD-8NF2FW5SWSGF-low.png Figure 11-20 Closed Loop IQ ID - BUILDLEVEL
  2. If desired, go to the single_chip_servo.c file and modify the Iq set point array. Default values shown below.
    GUID-20211108-SS0I-B335-TDX3-WJCJFBZFTL5F-low.png
  3. Build the project in Debug mode, then load it into MAIN_Cortex_R5_0_0.
  4. Once the project is loaded, open the 'single_chip_servo.c' file and find the following line, then right-click and select 'Run to Line'.
    GUID-20211108-SS0I-X4XN-3QQQ-HXP58NKG2LWK-low.png Figure 11-21 Closed Loop IQ ID - Run to Line
  5. Running to this line allows the control code to run through the eight different setpoints and fill up the debug buffer so that we can view the graph.
  6. Check the output by importing the following graphs:
    GUID-20211108-SS0I-KD8F-7NJW-DPH01BNDSZXL-low.png Figure 11-22 Closed Loop IQ ID - Alpha, Beta, IQ and ID Graph 1
  7. Example output shown below (Alpha, Beta, Iq, and Id graphed from top to bottom). Notice how the Iq graph matches the setpoints given above in the setpoint array and that Id is controlled close to 0 as requested:
    GUID-20211108-SS0I-KSL2-SMB0-0KGJ2Q1XVFQB-low.png Figure 11-23 Closed Loop IQ ID - Alpha, Beta, IQ and ID Graph 2