使用lab02b进行小电感电机参数辨识电机发出很大噪音，驱动板保护

将RES设置为3A，IND设置为-2A同样可以完成参数辨识，不会发出噪音。

就是都设置为3A和-3A时，电机发出很大噪音，报警，无法完成参数辨识。

您好！

请问USER_MOTOR_MAX_CURRENT这个值设的是多少？

可否把所有USER_MOTOR_开头的相关参数发上来看看？

#define USER_IQ_FULL_SCALE_FREQ_Hz (1300.0)

#define USER_IQ_FULL_SCALE_VOLTAGE_V (30.0) // 24.0 Set to Vbus

#define USER_ADC_FULL_SCALE_VOLTAGE_V (44.30) // BOOSTXL-DRV8305EVM = 44.30 V

#define USER_IQ_FULL_SCALE_CURRENT_A (24.0) // BOOSTXL-DRV8305EVM = 24.0 A

#define USER_ADC_FULL_SCALE_CURRENT_A (47.14) // BOOSTXL-DRV8305EVM = 47.14 A

#define USER_NUM_CURRENT_SENSORS (3) // 3 Preferred setting for best performance across full speed range, allows for 100% duty cycle

#define USER_NUM_VOLTAGE_SENSORS (3) // 3 Required

#define I_A_offset (1.022829056)
#define I_B_offset (1.020207703)
#define I_C_offset (1.014472127)

#define V_A_offset (0.04628497362)
#define V_B_offset (0.04616570473)
#define V_C_offset (0.04622781277)

#define USER_PWM_FREQ_kHz (45.0) //30.0 Example, 8.0 - 30.0 KHz typical; 45-80 KHz may be required for very low inductance, high speed motors

#define USER_MAX_VS_MAG_PU (0.5) // Set to 0.5 if a current reconstruction technique is not used. Look at the module svgen_current in lab10a-x for more info.

#define USER_NUM_PWM_TICKS_PER_ISR_TICK (3)

//! \brief Defines the number of isr ticks (hardware) per controller clock tick (software)
//! \brief Controller clock tick (CTRL) is the main clock used for all timing in the software
//! \brief Typically the PWM Frequency triggers (can be decimated by the ePWM hardware for less overhead) an ADC SOC
//! \brief ADC SOC triggers an ADC Conversion Done
//! \brief ADC Conversion Done triggers ISR
//! \brief This relates the hardware ISR rate to the software controller rate
//! \brief Typcially want to consider some form of decimation (ePWM hardware, CURRENT or EST) over 16KHz ISR to insure interrupt completes and leaves time for background tasks
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK (1) // 2 Example, controller clock rate (CTRL) runs at PWM / 2; ex 30 KHz PWM, 15 KHz control

//! \brief Defines the number of controller clock ticks per current controller clock tick
//! \brief Relationship of controller clock rate to current controller (FOC) rate
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK (1) // 1 Typical, Forward FOC current controller (Iq/Id/IPARK/SVPWM) runs at same rate as CTRL.

//! \brief Defines the number of controller clock ticks per estimator clock tick
//! \brief Relationship of controller clock rate to estimator (FAST) rate
//! \brief Depends on needed dynamic performance, FAST provides very good results as low as 1 KHz while more dynamic or high speed applications may require up to 15 KHz
#define USER_NUM_CTRL_TICKS_PER_EST_TICK (1) // 1 Typical, FAST estimator runs at same rate as CTRL;

//! \brief Defines the number of controller clock ticks per speed controller clock tick
//! \brief Relationship of controller clock rate to speed loop rate
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK (15) // 15 Typical to match PWM, ex: 15KHz PWM, controller, and current loop, 1KHz speed loop

//! \brief Defines the number of controller clock ticks per trajectory clock tick
//! \brief Relationship of controller clock rate to trajectory loop rate
//! \brief Typically the same as the speed rate
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK (15) // 15 Typical to match PWM, ex: 10KHz controller & current loop, 1KHz speed loop, 1 KHz Trajectory

//! \brief LIMITS
// **************************************************************************
//! \brief Defines the maximum negative current to be applied in Id reference
//! \brief Used in field weakening only, this is a safety setting (e.g. to protect against demagnetization)
//! \brief User must also be aware that overall current magnitude [sqrt(Id^2 + Iq^2)] should be kept below any machine design specifications
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A (-0.5 * USER_MOTOR_MAX_CURRENT) // -0.5 * USER_MOTOR_MAX_CURRENT Example, adjust to meet safety needs of your motor

//! \brief Defines the R/L estimation frequency, Hz
//! \brief User higher values for low inductance motors and lower values for higher inductance
//! \brief motors. The values can range from 100 to 300 Hz.
#define USER_R_OVER_L_EST_FREQ_Hz (300) // 300 Default

//! \brief Defines the low speed limit for the flux integrator, pu
//! \brief This is the speed range (CW/CCW) at which the ForceAngle object is active, but only if Enabled
//! \brief Outside of this speed - or if Disabled - the ForcAngle will NEVER be active and the angle is provided by FAST only
#define USER_ZEROSPEEDLIMIT (0.5 / USER_IQ_FULL_SCALE_FREQ_Hz) // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz

//! \brief Defines the force angle frequency, Hz
//! \brief Frequency of stator vector rotation used by the ForceAngle object
//! \brief Can be positive or negative
#define USER_FORCE_ANGLE_FREQ_Hz (2.0 * USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz) // 1.0 Typical force angle start-up speed

//! \brief POLES
// **************************************************************************
//! \brief Defines the analog voltage filter pole location, Hz
//! \brief Must match the hardware filter for Vph
#define USER_VOLTAGE_FILTER_POLE_Hz (344.62) // BOOSTXL-DRV8305 = 344.62 Hz

//! \brief USER MOTOR & ID SETTINGS
// **************************************************************************

//! \brief Define each motor with a unique name and ID number
// BLDC & SMPM motors
#define Estun_EMJ_04APB22 101
#define Anaheim_BLY172S 102
#define Teknic_M2310PLN04K 104

// IPM motors
// If user provides separate Ls-d, Ls-q
// else treat as SPM with user or identified average Ls
#define Belt_Drive_Washer_IPM 201
#define Anaheim_Salient 202

// ACIM motors
#define Marathon_5K33GN2A 301

//! \brief Uncomment the motor which should be included at compile
//! \brief These motor ID settings and motor parameters are then available to be used by the control system
//! \brief Once your ideal settings and parameters are identified update the motor section here so it is available in the binary code
//#define USER_MOTOR Estun_EMJ_04APB22
#define USER_MOTOR My_Motor
//#define USER_MOTOR Teknic_M2310PLN04K
//#define USER_MOTOR Belt_Drive_Washer_IPM
//#define USER_MOTOR Marathon_5K33GN2A
//#define USER_MOTOR Anaheim_Salient

#if (USER_MOTOR == Estun_EMJ_04APB22) // Name must match the motor #define
#define USER_MOTOR_TYPE MOTOR_Type_Pm // Motor_Type_Pm (All Synchronous: BLDC, PMSM, SMPM, IPM) or Motor_Type_Induction (Asynchronous ACI)
#define USER_MOTOR_NUM_POLE_PAIRS (4) // PAIRS, not total poles. Used to calculate user RPM from rotor Hz only
#define USER_MOTOR_Rr (NULL) // Induction motors only, else NULL
#define USER_MOTOR_Rs (2.303403) // Identified phase to neutral resistance in a Y equivalent circuit (Ohms, float)
#define USER_MOTOR_Ls_d (0.008464367) // For PM, Identified average stator inductance (Henry, float)
#define USER_MOTOR_Ls_q (0.008464367) // For PM, Identified average stator inductance (Henry, float)
#define USER_MOTOR_RATED_FLUX (0.38) // Identified TOTAL flux linkage between the rotor and the stator (V/Hz)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL) // Induction motors only, else NULL
#define USER_MOTOR_RES_EST_CURRENT (1.0) // During Motor ID, maximum current (Amperes, float) used for Rs estimation, 10-20% rated current
#define USER_MOTOR_IND_EST_CURRENT (-1.0) // During Motor ID, maximum current (negative Amperes, float) used for Ls estimation, use just enough to enable rotation
#define USER_MOTOR_MAX_CURRENT (3.82) // CRITICAL: Used during ID and run-time, sets a limit on the maximum current command output of the provided Speed PI Controller to the Iq controller
#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0) // During Motor ID, maximum commanded speed (Hz, float), ~10% rated

/*
#elif (USER_MOTOR == My_Motor)
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (12)
#define USER_MOTOR_Rr (NULL)//NULL
#define USER_MOTOR_Rs (NULL)
#define USER_MOTOR_Ls_d (NULL)
#define USER_MOTOR_Ls_q (NULL)
#define USER_MOTOR_RATED_FLUX (NULL)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL)//NULL
#define USER_MOTOR_RES_EST_CURRENT (2)
#define USER_MOTOR_IND_EST_CURRENT (-2)
#define USER_MOTOR_MAX_CURRENT (15.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (50.0)
*/

您好！

从参数上看没有特别的问题，减小IND_EST_CURRENT应该是有效的办法。

详细看了一下user guide中的电感辨识过程，对之前IND_EST_CURRENT设置过大电机噪音很大，无法完整辨识，原因仍比较疑惑。

要识别PMSM 电机的定子电感，相关算法会向D 轴注入电流USER_MOTOR_IND_EST_CURRENT，为负值。

电感电流会有一个斜升的过程。斜率为：USER_MOTOR_RES_EST_CURRENT /s;

假如：#define USER_MOTOR_RES_EST_CURRENT (1.0)

            #define USER_MOTOR_IND_EST_CURRENT (-0.5)

从增加0.5A 电流到将电流注入D 轴共需耗费0.5s。

我在进行参数辨识的时候，出现问题，前面的实验已经将原因锁定为IND_EST_CURRENT设置过大，该量设置过大导致无法完成辨识怀疑原因有以下两种：

1.注入Id的电流为-3A时，弱磁过大，影响到电机进行Ls辨识的正常运行，导致电机运行故障；

2.IND_EST_CURRENT设置过大，在斜升过程现有斜率（IND_EST_CURRENT/s）无法达到IND设置值。电感斜升阶段是否对斜升时间有设置或限制？？？

希望得到TI工程师回答！谢谢~

我也遇到，当电机在学习的过程中，电机运行后突然停止，DRV8305的nFAULT引脚变低，测量AVDD为0V，重新上电也是一样的现象，请问这一般是什么原因？