SPRAD24 august   2023 AM2631 , AM2632 , AM2632-Q1 , AM2634 , AM2634-Q1 , AM263P4 , AM263P4-Q1

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
    1. 1.1 Key System Specifications
  5. 2AM263x Overview
    1. 2.1 AM263x Control Card and Traction System Framework
  6. 3Guide to Running TIDM-02014 Traction Inverter
    1. 3.1 Software Set-up
      1. 3.1.1 Code Composer Studio Project
      2. 3.1.2 Software Structure
    2. 3.2 Create Real Time Debug Interface
      1. 3.2.1 Confirm CCS Features
      2. 3.2.2 Create Target Configuration File
      3. 3.2.3 Add Serial Command Monitor Software
      4. 3.2.4 Launch Real Time Debug
    3. 3.3 Running the Code
      1. 3.3.1 Project Setup
      2. 3.3.2 Running the Application
    4. 3.4 Get Samples From ADC and Read Samples Through CCS
      1. 3.4.1 Register and Enable Interrupt
      2. 3.4.2 Add Log Code to Read Samples in Graph at Fixed Rate
      3. 3.4.3 Read ADC Samples in Expression and Graph Windows
    5. 3.5 Generate Space Vector PWM and Drive Motor in Open Loop
      1. 3.5.1 Setup SVPWM Generator Inputs
      2. 3.5.2 Read SVPWM Duty Cycles in Graph Window
      3. 3.5.3 Power Up Inverter and Spin Motor in Open Loop
    6. 3.6 Close Current Loop With Mock Speed
      1. 3.6.1 Add Transformations and Read Id-Iq in Open Loop
      2. 3.6.2 Add Controllers to Close Current Loop
      3. 3.6.3 Read Id-Iq to Close Current Loop
    7. 3.7 Add Software Resolver to Digital Converter
      1. 3.7.1 Generate Excitation for Resolver Hardware
      2. 3.7.2 Add Resolver Software
      3. 3.7.3 Read Resolver Software Outputs
  7. 4Brief Guide to Code Migration
    1. 4.1 SDK Resources Overview
    2. 4.2 Code Migration From C28
    3. 4.3 Code Migration From AM24
  8. 5Summary
  9. 6References

3.6.1 Add Transformations and Read Id-Iq in Open Loop

To close current loop, the following transformations need to be added. Line 1 is clark transformation, and line 2 is park transformation. Similar functions can be found in CMSIS DSP library and others. The angle information is already included in the structure of motor1. The implementation here is similar to C28 program for TIDM-02014.

  1. clarke_run(&motor1);
  2. park_run(&motor1);

Ideally, Id and Iq are close to constant values during open loop steady state operation. In most cases, it is not difficult to read them in expression window. If graph view is desired, they can be added to graph window by following Section 3.4.3. Here are the setup for log pointers. Line 1 is Id and line 2 is Iq. The plotted Id is in and Iq is in Figure 3-21 and Figure 3-22.

  1. gLog_ptr[10] = &motor1.I_dq_A[0];
  2. gLog_ptr[11] = &motor1.I_dq_A[1];
GUID-20220308-SS0I-C22T-FL2K-ZW3TPCWMQG1S-low.pngFigure 3-21 Open Loop Id
GUID-20220308-SS0I-FBC0-0KLG-HJ3KZKRFKD6P-low.pngFigure 3-22 Open Loop Iq