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

7.4.2 Dual Motor Run With Speed Loop

In the software, motor 1 and motor 2 can be controlled as above steps separately. Or, both motors can be controlled simultaneously. The key variables to add, adjust, or monitor are summarized as follow to control dual motor.

  • flagSyncRun: flag to 0 that control dual motor separately, flag to 1 that control dual motor simultaneously.
  • runMotor : flag to MOTOR_RUN or MOTOR_STOP for setting 'motorVars[0].runMotor' and 'motorVars[1].runMotor' simultaneously.
  • speedRef: for changing the motorVars[0].speedRef and motorVars[0].speedRef in per-unit with the same setting value.
  1. Set 'enableFlag' to 1 in the expressions window.
  2. Set 'flagSyncRun' to 1 to enable controlling dual motor simultaneously.
  3. Set 'speedRef' to 0.1pu (or another suitable value if the base speed is different). The variables, 'motorVars[0].speedRef' and 'motorVars[0].speedRef' are changed to the value equals to 'speedRef'.
  4. Set 'runMotor' flag to MOTOR_RUN to run the dual motor, now both motors run with this reference speed (0.1 pu).
  5. Set 'runMotor’ to MOTOR_STOP to stop the dual motor.
  6. Bring the system to a safe stop by reducing the bus voltage, taking the controller out of real-time mode, and resetting.
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