SPRUHJ1I January 2013 – October 2021 TMS320F2802-Q1 , TMS320F28026-Q1 , TMS320F28026F , TMS320F28027-Q1 , TMS320F28027F , TMS320F28027F-Q1 , TMS320F28052-Q1 , TMS320F28052F , TMS320F28052F-Q1 , TMS320F28052M , TMS320F28052M-Q1 , TMS320F28054-Q1 , TMS320F28054F , TMS320F28054F-Q1 , TMS320F28054M , TMS320F28054M-Q1 , TMS320F2806-Q1 , TMS320F28062-Q1 , TMS320F28062F , TMS320F28062F-Q1 , TMS320F28068F , TMS320F28068M , TMS320F28069-Q1 , TMS320F28069F , TMS320F28069F-Q1 , TMS320F28069M , TMS320F28069M-Q1
Table 7-3 summarizes all the states shown in Figure 7-5, with a brief description. A more detailed description is given in this document when the detailed motor identification process is explained.
Table 7-4 summarizes all the state transition conditions shown in Figure 7-5.
Estimator State | Brief Description |
---|---|
Start | The start state is only shown as a starting point of the entire state machine. However it does not actually exist in the estimator state machine. |
Idle
|
During the idle state, the estimator state machine does not execute any code. It is simply waiting for the controller state machine to change the state of the estimator. |
RoverL
|
The R over L state of the estimator is executed during the motor identification process in order to measure the electrical constant of the motor. The resulting R over L ratio is used at the end of this state to calculate the ID and IQ current controller gains. |
Rs
|
The estimator is in the Rs state when identifying the stator resistance of the motor for the first time, or when it is recalibrating the stator resistance after the motor has been fully identified. |
Online
|
The online state of the estimator is present when the motor is operating in closed loop. In order to be in this state, the motor had to be fully identified or motor parameters had to be provided to a header file in user.h, and the controller had been run. This is the state where the speed reference can be changed, and when full load can be applied to the motor's shaft. |
Ramp Up
|
The ramp up state of the estimator is to get the motor spinning up to a configured frequency in order to perform other identification tasks, such as flux and inductance identification. During this state, there aren't any parameters estimated, it only spins the motor up to a certain frequency. |
Rated Flux OL
|
This is a transitional state of the estimator prior to identifying the rated flux of the machine. |
Rated Flux
|
During this state, the flux linkage of the motor from the rotor to the stator is identified. |
Id Rated
|
Only applicable to ACIM motors, this state is present when the motor's magnetizing current is being identified for the commanded flux defined in user.h. |
Ls
|
The stator inductance is identified during this state of the estimator. |
Rr
|
Only applicable to ACIM motors, during this state, the rotor resistance is identified. The rotor must be locked in order to perform the rotor resistance identification. |
Lock Rotor
|
This state is used to let users know that the rotor must be locked, and then controller must be re-enabled after rotor is locked, to proceed with the rest of the identification process. The controller is put in idle when the estimator is in lock rotor state. |
Ramp Down
|
After all parameters of the motor have been identified, the ramp down state is present to allow some time to remove the currents flowing through the motor windings. No parameters are identified during this state since it is only a transitional state before the end of the identification process. |
Motor Ident
|
The motor identified state is also a transitional state to let the estimator state machine know that the motor is fully identified, and after this state is done, the state machine is put back in idle. The controller state machine is also put in idle state after the motor identified state is finished. |
Condition | Brief Explanation |
---|---|
Motor Is Not Identified | Explained in the controller state machine |
Motor Is Identified | Explained in the controller state machine |
Rs Recalibration Disabled | The stator resistance recalibration feature of
InstaSPIN, also known as Rs Offline recalibration, is used when the
motor is at stand still, right before running the motor in closed
loop when the motor has been fully identified, or when motor
parameters have been provided by the user in user.h file. This
condition where the Rs recalibration is disabled is present when
this feature has been disabled, which can be checked using the
following code example:
|
The Rs recalibration feature can be disabled by
calling this function with the indicated parameter before enabling
the controller:
|
|
The Rs recalibration feature is enabled by default. | |
Rs Recalibration Enabled | This condition where the Rs recalibration is enabled
is present when this feature has been enabled, which can be checked
using the following code example:
|
The Rs recalibration feature can be enabled by calling
this function with the indicated parameter before enabling the
controller:
|
|
The Rs recalibration feature is enabled by default. | |
Controller Disabled | Explained in the controller state machine |
Controller Enabled | Explained in the controller state machine |
Motor Is Not an ACIM | This condition is true when the motor type is not an ACIM, which
can be checked by the following example:
|
Motor Is an ACIM | This condition is true when the motor type is an ACIM, which can
be checked by the following example:
|
Wait Expired | The state transitions that have time dependencies are based on an
internal counter compared to the value stored in the respective wait
time in userParams.h:
|