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

7.1 Incremental Build Level 1

The block diagram of the system built in BUILD LEVEL 1 is shown in Figure 18. During this step, keep the motor disconnected.

figure_18.gifFigure 18. Level 1 Block Diagram

Assuming the load and build steps described in the Section 6.2.2 completed successfully. This section describes the steps for a minimum system check-out, which confirms operation of system interrupt, the peripheral and target independent inverse park transformation, space vector generator modules, and the peripheral dependent PWM initialization and update modules.

  1. Open "dual_axis_servo_drive_settings.h" from the project directory. Select the level 1 incremental build option by setting the BUILDLEVEL to FCL_LEVEL1 (#define BUILDLEVEL FCL_LEVEL1).
  2. Right click on the project name and click Rebuild Project.
  3. When the build is complete, click on debug button, reset CPU, restart, enable real time mode, and run.
  4. Add variables to the expressions window by right clicking within the Expressions Window and importing the file "dual_axis_servo_drive_vars.txt" from the debug directory and the expressions window will look as shown in Figure 14 in Section 6.2.2.
  5. Set 'enableFlag' to 1 in the expressions window. The variables named 'motorVars[0].isrTicker' and 'motorVars[1].isrTicker' are incrementally increased as shown in Expressions window to confirm the interrupts are working properly. In the software, the key variables within the structure of 'motorVars[0]' and 'motorVars[1]' to be adjusted are summarized below:
    1. motorVars[0].speedRef: for changing the rotor speed in per-unit.
    2. VdTesting: for changing the d-qxis voltage in per-unit.
    3. VqTesting: for changing the q-axis voltage in per-unit.

NOTE

The tests suggested below for motor 1 by setting 'motorVars[0]' that can be repeated for motor 2 by setting 'motorVars[1]' also to verify the hardware and software integrity in subsequent build levels.