Texas Instruments TMS320F280049C, User Manual

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6.3 Sensorless Sinusoidal Commutation
1. To spin the motor freely with a sinusoidal current profile, check the “Run” box again. The motor will spin with
sinusoidal current at the speedRef (Hz) value in the GUI, which is automatically set to 20.0 Hz. Use the
speedRef (Hz) input to change the current speed of the motor as shown in
Figure 6-4 .
2. Use the input acceleration Max (Hz/s) to adjust the rate at which the motor will change speed (when
speedRef (Hz) is changed).
Figure 6-4. Sensorless Sinusoidal Commutation Using the DRV8316REVM InstaSPIN ™ GUI
6.4 Torque and Speed Control
1. The MotorControl SDK InstaSPIN Lab Guide contains detailed lab overviews of how to use the provided PI
controller to tune the Kp and Ki values for dynamic torque and speed control based on the mechanical
system of the motor when running. Lab 6 (is06_torque_control) describes how to tune the Kp and Ki gains for
dynamic torque control, and Lab 7 (is07_speed_control) describes a similar process for dynamic speed
control.
2. To adjust the gains and currents for the direct and quadrature domains, adjust the Kp_spd, Ki_spd, Id_Kp,
Id_Ki, Iq_Kp, and Iq_Ki constants accordingly based on system specifications as Figure 6-5 shows. The
algorithm will automatically estimate these values initially based on maximum current and motor inertia
settings in “user.h” of the InstaSPIN firmware.
Figure 6-5. Torque and Speed Control Using the DRV8316REVM InstaSPIN ™ GUI
www.ti.com Firmware and GUI Application
SLVUBZ9A – DECEMBER 2020 – REVISED FEBRUARY 2021
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DRV8316REVM Evaluation Module 17
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