[参考译文] MCSDK 同一电机不加速 SDK40

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https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1242003/mcsdk-same-motor-not-accelerate-sdk40-does-same-motor

器件型号：TMS320F280049C
主题中讨论的其他器件：DRV8323

大家好！

编译： CCS12.3编译器22.6.0.LTS

我的大电机运行达到用户设置的轨迹速度 SDK 4.0 pu：0.5、20Khz、无论启动、扭矩、增量电流和加速启动速度如何、都仅达到1Hz UMCSDK 在下面的文本文件中设置。已尝试下面每种可能的组合 UMCSDK user_mtr1.h 设置、并发现奇怪的是、两个 Delta 电流的 CCS show 源在构建中没有到任何函数或用户参数的链接。我希望这对调试较新的 MCSDK 代码有所帮助。小型电机 Nidec 25H +24V 负载0.35A 具有极低的电流、但在较高速度下具有很大的扭矩>8krpm UMCSDK 不会出现问题。

怪异的 USER_MOTOR1_FORCE_DELTA_ A、 USER_MOTOR1_ALIGN_DELTA_A 没有关联的函数或变量在 user_mtr1.h 中定义、是指向 FAST_FULL_lib.lib 的链接。没有编译器警告 ABI 或 COF 问题、但这似乎是 ABI 构建工程设置的 COF 库构建？

为什么两个电机在 SDK4.0中都可以正常工作、但在 MCSDK 中无法工作？当电机电流小于1A 时、小型电机启动并运行以参考目标轨迹速度、但大型电机保持强制角开环速度1Hz。请建议一些 user_mtr1.h 设置,以帮助大型电机的 kgm^2转子质量,许多 EV 级范围大于63磅惯性。还将 UMCSDK 与若干 M1.KP_SPD 值绑定、例如148.xxx、48.xxx 至0.48xxxx、但仍未更改以加速到参考轨迹速度。

MCSDK 大电机 user_mtr1.h SDK4.0大电机 user.h 设置

设置 SDK4.0与 UMCSDK 类似但不工作相同的电机、更高的电流相同问题不会加速以参考轨迹速度。

#define USER_MOTOR1_TYPE                   MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS         (18)

#define USER_MOTOR_SPEED_REF_HZ            (265) // Set Trajectory Speed

#define USER_MOTOR1_Rr_Ohm                 (NULL)//ACIM only
//Cust-INV: DCINV 0.16828759, DRV8320RS 0.155892089
#define USER_MOTOR1_Rs_Ohm                 (0.16828759)
//Cust-INV: 0.000986817526, DRV8320RS 0.000890934956
#define USER_MOTOR1_Ls_d_H                 (0.000896817526)
#define USER_MOTOR1_Ls_q_H                 (0.000896817526)
//Cust-INV:0.138790429
#define USER_MOTOR1_RATED_FLUX_VpHz        (0.138790429)

#define USER_MOTOR1_MAGNETIZING_CURRENT_A  (NULL)//ACIM only

#define USER_MOTOR1_RES_EST_CURRENT_A      (5.0f)  // 10-30% of rated current HV36/8.2A, unloaded 5.0/100v
#define USER_MOTOR1_IND_EST_CURRENT_A      (-4.5f) // 10-30% of rated current(LS) HV36:-4.5
#define USER_MOTOR1_MAX_CURRENT_A          (5.65f) // Saturation current(Peak) HV36:5.6
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz       (60.0f) // MotorID 60 Hz for [1 uH < Lphase < 10 uH]
                                                   // MotorID 20 Hz for [10 uH < Lphase < 1000 uH]

// Number of lines on the motor's quadrature encoder
#define USER_MOTOR1_NUM_ENC_SLOTS          (NULL)

#define USER_MOTOR1_INERTIA_Kgm2           (0.352838295721)

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (2.0f)       // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (250.0f)
#define USER_MOTOR1_RATED_SPEED_KRPM       (3.5f)

#define USER_MOTOR1_FREQ_MIN_HZ            (2.0f)       // Hz
#define USER_MOTOR1_FREQ_MAX_HZ            (1350.0f)    // Hz 720Hz*60/18=2400rpm, Hz-suggested to set to 120% of rated motor frequency

#define USER_MOTOR1_FREQ_LOW_HZ            (65.0f)     // Hz 65Hz - suggested to set to 10% of rated motor frequency
#define USER_MOTOR1_FREQ_HIGH_HZ           (650.0f)    // Hz 650Hz*60/18=2166rpm: suggested to set to 100% of rated motor frequency

#define USER_MOTOR1_VOLT_MIN_V             (85.0f)      // Volt
#define USER_MOTOR1_VOLT_MAX_V             (186.0f)     // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.55f)      // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.25f)      // A
#define USER_MOTOR1_FLUX_CURRENT_A         (5.25f)      // !A
#define USER_MOTOR1_ALIGN_CURRENT_A        (5.0f)       // !A
#define USER_MOTOR1_STARTUP_CURRENT_A      (7.25f)      // !A
#define USER_MOTOR1_TORQUE_CURRENT_A       (2.65f)      // !A
#define USER_MOTOR1_OVER_CURRENT_A         (12.8f)      // !A

#define USER_MOTOR1_BRAKE_CURRENT_A        (1.0f)       // A
#define USER_MOTOR1_BRAKE_TIME_DELAY       (12000U)     // 60s/5ms
#define USER_MOTOR1_SPEED_START_Hz         (5.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (15.0f)
#define USER_MOTOR1_ACCEL_START_Hzps       (5.0f)       // !Hz
#define USER_MOTOR1_ACCEL_MAX_Hzps         (25.0f)      // !Hz

更改设置通用 MCSDK 电机仍保持±1Hz 不会加速到参考轨迹速度、即使电流较小的电机仍仅以1Hz 的频率启动。

#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz  (2.0f)       // Hz

#define USER_MOTOR1_RATED_VOLTAGE_V        (250.0f)
#define USER_MOTOR1_RATED_SPEED_KRPM       (3.5f)

#define USER_MOTOR1_FREQ_MIN_HZ            (2.0f)       // Hz
#define USER_MOTOR1_FREQ_MAX_HZ            (1350.0f)    // Hz 720Hz*60/18=2400rpm, Hz-suggested to set to 120% of rated motor frequency

#define USER_MOTOR1_FREQ_LOW_HZ            (65.0f)     // Hz 65Hz - suggested to set to 10% of rated motor frequency
#define USER_MOTOR1_FREQ_HIGH_HZ           (650.0f)    // Hz 650Hz*60/18=2166rpm: suggested to set to 100% of rated motor frequency

#define USER_MOTOR1_VOLT_MIN_V             (85.0f)      // Volt
#define USER_MOTOR1_VOLT_MAX_V             (186.0f)     // Volt

#define USER_MOTOR1_FORCE_DELTA_A          (0.55f)      // A
#define USER_MOTOR1_ALIGN_DELTA_A          (0.25f)      // A
#define USER_MOTOR1_FLUX_CURRENT_A         (1.75f)      // !A
#define USER_MOTOR1_ALIGN_CURRENT_A        (4.0f)       // !A
#define USER_MOTOR1_STARTUP_CURRENT_A      (3.55f)      // !A
#define USER_MOTOR1_TORQUE_CURRENT_A       (1.65f)      // !A
#define USER_MOTOR1_OVER_CURRENT_A         (12.0f)      // !A

#define USER_MOTOR1_BRAKE_CURRENT_A        (1.0f)       // A
#define USER_MOTOR1_BRAKE_TIME_DELAY       (12000U)     // 60s/5ms
#define USER_MOTOR1_SPEED_START_Hz         (15.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz         (25.0f)
#define USER_MOTOR1_ACCEL_START_Hzps       (35.0f)      // !Hz
#define USER_MOTOR1_ACCEL_MAX_Hzps         (55.0f)      // !Hz

SDK4.0用户设置对于更大的电机可正常启动、但为什么 MCSDK 中不能这样做？

	USER_MOTOR_TYPE				=	  1, // MOTOR_TYPE_PM,

	USER_MOTOR_NUM_POLE_PAIRS   =     18, // HV36:18pp

	USER_MOTOR_Rr_Ohm           =     0, //ACIM only

	USER_MOTOR_Rs_Ohm           =     0.16828759,
	//HV36: DCINV 0.16828759, DRV8320RS 0.155892089

	USER_MOTOR_Ls_d_H           =    0.000896817526,
	//HV36: INV 0.000986817526, DRV8320RS 0.000890934956

	USER_MOTOR_Ls_q_H           =    0.000896817526,
	//HV36: INV 0.000986817526, DRV8320RS 0.000890934956

	USER_MOTOR_RATED_FLUX_VpHz  =      0.138790429,
	//HV36:0.138790429
	USER_MOTOR_MAGNETIZING_CURRENT_A = 0, //ACIM only
	USER_MOTOR_RES_EST_CURRENT_A   =    5.0,  // 10-30% of rated current HV36/8.2A, unloaded 5.0/100v
	USER_MOTOR_IND_EST_CURRENT_A   =   -4.5, // 10-30% of rated current(LS) HV36:-4.5
	USER_MOTOR_MAX_CURRENT_A       =    5.6, // Saturation current(Peak) HV36:5.6
	USER_MOTOR_FLUX_EXC_FREQ_Hz    =   60.0, // MotorID 60 Hz for [1 uH < Lphase < 10 uH]
						 // MotorID 20 Hz for [10 uH < Lphase < 1000 uH]

        USER_MOTOR_INERTIA_EN	    =	(1), //1:true, 0:false

	USER_MOTOR_INERTIA_Kgm2     =   0.325505192710553, 

	USER_MOTOR_NUM_ENC_SLOTS     =      71, // Number of lines on the motor's quadrature encoder

	USER_MOTOR_FREQ_MIN_HZ       =      2.0,  // Hz
	USER_MOTOR_FREQ_MAX_HZ       =      780.0, // 720Hz*60/18=2400rpm, Hz-suggested to set to 120% of rated motor frequency

	USER_MOTOR_FREQ_LOW_HZ       =       65.0, // 65Hz - suggested to set to 10% of rated motor frequency
	USER_MOTOR_FREQ_HIGH_HZ      =      650.0, // 650Hz*60/18=2166rpm: suggested to set to 100% of rated motor frequency

	USER_MOTOR_VOLT_MIN_V        =       60.0,  // Volt - suggested to set to 15% of rated motor voltage
	USER_MOTOR_VOLT_MAX_V        =      160.0,  // Volt - suggested to set to 100% of rated motor voltage

	HAL_PWM_DBRED_CNT			 =	   	20, // PWM Deadband RED register x 10 nanosecond SYSCLK periods
	HAL_PWM_DBFED_CNT			 =	   	20, // PWM Deadband FED register x 10 nanosecond SYSCLK periods
	HAL_PWM_DB_CNT			 	 =	   	20, // DRV 8320RS gate driver deand band SPI register value.

	USER_PWM_FREQ_kHz     		 =     	20.0, // EPWM module PRD clock frequency for DC inverter modulation.

    //! \brief Defines the maximum P2P current at the AD converter   
    USER_ADC_FULL_SCALE_CURRENT_A   =   82.0; //PGA 42.843, INA240A1:78-82.0

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[参考译文] MCSDK 同一电机不加速 SDK40