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  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

11.6 Step 5. Closed Loop Speed Control (BUILDLEVEL == CLOSED_LOOP_SPEED)

This build level closes the speed loop in addition to the current loop.

  1. Go to the settings.h file and change the definitions to match the following (closed loop speed control, debug buffers on, 8000 cycles per set point):
    GUID-20211108-SS0I-5HSJ-NJLC-ZHJ2Q2SHGW7P-low.png Figure 11-24 Closed Loop Speed - BUILDLEVEL
  2. If desired, go to the single_chip_servo.c file and modify the Speed set point array. Default values shown below.
    GUID-20211108-SS0I-QBB6-JFMT-LH3CHWW05DML-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-LW0F-WB3D-4PGZNW47RSQP-low.png Figure 11-25 Closed Loop Speed - Run to Line
  5. Running to this line allows the control code to run through the 8 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-F7CR-DK8D-CLFZLGFXCQMK-low.png Figure 11-26 Closed Loop Speed - ID, IQ, Speed Graph 1
  7. Example output shown below (Iq, Id, and speed graphed from top to bottom). Notice how Iq ramps and stays high during the speed ramps and goes close to zero to maintain speed. The speed graph at the bottom shows that the speed ramps to the requested value and then levels out. The ramp is slope is determined by the MAX_SPD_CHANGE definition in the settings.h file. You'll notice that during the ramp from 750 to -500 and then -750 that -500 was basically skipped because the ramp wasn't steep enough to reach it within the cycles allowed.
    GUID-20211108-SS0I-CPDV-SX38-QRTQGKLQQ0GH-low.png Figure 11-27 Closed Loop Speed - ID, IQ, Speed Graph 2