SLAAEM1 June   2024 MSPM0C1104 , MSPM0C1104 , MSPM0L1105 , MSPM0L1105

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
  5. 2System Architecture Introduction
  6. 3Hardware Design Introduction
    1. 3.1 Power Supply Circuit
    2. 3.2 Drive Circuit
    3. 3.3 Sampling Circuit
    4. 3.4 Main Controller Circuit
    5. 3.5 Control System Introduction
      1. 3.5.1 Drive Method
      2. 3.5.2 Control Method
  7. 4Software Design Introduction
    1. 4.1 Parameters Initialization
    2. 4.2 Direction Setup
    3. 4.3 Timer Interrupt
    4. 4.4 Closed Loop Controller
  8. 5Evaluation

4.1 Parameters Initialization

This section primarily involves the initialization of three aspects: motor configuration parameters, speed loop parameters, and current loop parameters, as shown in Figure 4-2. The configuration settings include defining the target speed, run direction (up or down), encoder resolution, record time, maximum and minimum duty cycle and maximum current. The PID controller parameters, including P, I, and D gains, are specified for both speed and current control loops. Additionally, the code declares various volatile variables for capturing counts, recording distances, storing actual speed and current, defining target current, and capturing ADC readings.

Parameters Initialization Figure 4-2 Parameters Initialization