SPRUJF4 October   2024

 

  1.   1
  2.   Description
  3.   Features
  4.   Applications
  5.   5
  6. 1Evaluation Module Overview
    1. 1.1 Introduction
    2. 1.2 Kit Contents
    3. 1.3 Specification
    4. 1.4 Device Information
    5.     General Texas Instruments High Voltage Evaluation (TI HV EVM) User Safety Guidelines
  7. 2Hardware
    1. 2.1 Hardware Description
      1. 2.1.1 Auxiliary Power Supply
      2. 2.1.2 DC Link Voltage Sensing
      3. 2.1.3 Motor Phase Voltage Sensing
      4. 2.1.4 Motor Phase Current Sensing
        1. 2.1.4.1 Three-Shunt Current Sensing
        2. 2.1.4.2 Single-Shunt Current Sensing
      5. 2.1.5 External Overcurrent Protection
      6. 2.1.6 Internal Overcurrent Protection for TMS320F2800F137
    2. 2.2 Getting Started Hardware
      1. 2.2.1 Test Conditions and Equipment
      2. 2.2.2 Test Setup
  8. 3Motor Control Software
    1. 3.1 Three-Phase PMSM Drive System Design Theory
      1. 3.1.1 Field-Oriented Control of PMSM
        1. 3.1.1.1 Space Vector Definition and Projection
          1. 3.1.1.1.1 ( a ,   b ) ⇒ ( α , β ) Clarke Transformation
          2. 3.1.1.1.2 ( α , β ) ⇒ ( d ,   q ) Park Transformation
        2. 3.1.1.2 Basic Scheme of FOC for AC Motor
        3. 3.1.1.3 Rotor Flux Position
      2. 3.1.2 Sensorless Control of PM Synchronous Motor
        1. 3.1.2.1 Enhanced Sliding Mode Observer With Phase-Locked Loop
          1. 3.1.2.1.1 Mathematical Model and FOC Structure of an IPMSM
          2. 3.1.2.1.2 Design of ESMO for the IPMS
            1. 3.1.2.1.2.1 Rotor Position and Speed Estimation With PLL
      3. 3.1.3 Field Weakening (FW) and Maximum Torque Per Ampere (MTPA) Control
    2. 3.2 Getting Started Software
      1. 3.2.1 Download and Install C2000 Software
      2. 3.2.2 Using the Software
      3. 3.2.3 Project Structure
  9. 4Test Procedure and Results
    1. 4.1 Build Level 1: CPU and Board Setup
    2. 4.2 Build Level 2: Open-Loop Check With ADC Feedback
    3. 4.3 Build Level 3: Closed Current Loop Check
    4. 4.4 Build Level 4: Full Motor Drive Control
    5. 4.5 Test Procedure
      1. 4.5.1 Startup
      2. 4.5.2 Build and Load Project
      3. 4.5.3 Setup Debug Environment Windows
      4. 4.5.4 Run the Code
        1. 4.5.4.1 Build Level 1 Test Procedure
        2. 4.5.4.2 Build Level 2 Test Procedure
        3. 4.5.4.3 Build Level 3 Test Procedure
        4. 4.5.4.4 Build Level 4 Test Procedure
          1. 4.5.4.4.1 Tuning Motor Drive FOC Parameters
          2. 4.5.4.4.2 Tuning Field Weakening and MTPA Control Parameters
          3. 4.5.4.4.3 Tuning Current Sensing Parameters
    6. 4.6 Performance Data and Results
      1. 4.6.1 Load and Thermal Test
      2. 4.6.2 Overcurrent Protection by External Comparator
      3. 4.6.3 Overcurrent Protection by Internal CMPSS
  10. 5Hardware Design Files
    1. 5.1 Schematics
    2. 5.2 PCB Layouts
    3. 5.3 Bill of Materials (BOM)
  11. 6Additional Information
    1. 6.1 Known Hardware or Software Issues
    2. 6.2 Trademarks
    3. 6.3 Terminology
  12. 7References
4.5.4.4.1 Tuning Motor Drive FOC Parameters

The sliding mode current observer consists of a model-based current observer and a bang-bang control generator driven by error between estimated motor currents and actual motor currents. The F and G parameters are calculated based on the motor parameters Rs, and Ls as described in Section 3.1.2.1.2. The observer gain k for bang-bang control, the cutoff frequency for LPF, and the Kp and Ki for PLL angle tracker must be tuned according to the testing state, and try to get the best parameters. The user can run the FAST estimator and eSMO in parallel to validate the angle from the eSMO for tuning the parameters. The initial parameters are defined in the user-mtr1.h files.

// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX             (1.50f)
#define USER_MOTOR1_KSLIDE_MIN             (0.75f)

#define USER_MOTOR1_PLL_KP_MAX             (10.0f)
#define USER_MOTOR1_PLL_KP_MIN             (2.0f)
#define USER_MOTOR1_PLL_KP_SF              (5.0f)

#define USER_MOTOR1_BEMF_THRESHOLD         (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz        (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF        (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz        (200.0f)

The speed and current PI regulator gains are calculated according to the motor parameters, the user can tune these gains online to optimize the control performance of the system.

  • Adding the motorVars[0].Kp_spd, motorVars[0].Ki_spd, motorVars[0].Kp_Iq, motorVars[0].Ki_Iq, motorVars[0].Kp_Id, and motorVars[0].Ki_Id to the Expressions window in CCS Debug Perspective. Change the PI gains for the compressor motor drive and record the values.
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