InstaSPIN-FOC™ 和和 InstaSPIN-MOTION™
用用户户指指南南
Literature Number: ZHCU083F
January 2013–Revised July 2014
内内容容
1 简简介介 .................................................................................................................................. 20
1.1 InstaSPIN-FOC 和 FAST 概述............................................................................................ 22
1.1.1 FAST 估算器特性.................................................................................................. 23
1.1.2 InstaSPIN-FOC 解决方案特性 ................................................................................... 23
1.1.3 InstaSPIN-FOC 方框图 ........................................................................................... 24
1.1.4 将 FAST 估算器与典型解决方案相比较 ........................................................................ 26
1.1.5 FAST 提供无传感器 FOC 性能 .................................................................................. 26
1.2 InstaSPIN-MOTION 和 SpinTAC 概述................................................................................... 29
1.2.1 InstaSPIN-MOTION 关键功能和优势 ........................................................................... 31
1.2.2 InstaSPIN-MOTION 方框图 ...................................................................................... 35
1.2.3 应用示例 ............................................................................................................ 43
2 快快速速入入门门套套件件 - TI 提提供供的的软软件件和和硬硬件件 ........................................................................................ 48
2.1 评估 InstaSPIN-FOC 和 InstaSPIN-MOTION........................................................................... 51
3 InstaSPIN 和和 MotorWare...................................................................................................... 56
3.1 MotorWare 目录结构....................................................................................................... 58
3.1.1 MotorWare – drivers .............................................................................................. 59
3.1.2 MotorWare – ide................................................................................................... 60
3.1.3 MotorWare – modules ............................................................................................ 61
3.1.4 MotorWare – solutions............................................................................................ 61
3.2 MotorWare 面向对象的设计............................................................................................... 63
3.2.1 对象 ................................................................................................................. 64
3.2.2 方法 ................................................................................................................. 64
3.3 InstaSPIN-FOC API........................................................................................................ 66
3.3.1 控制器 API 函数 - ctrl.c、ctrl.h、CTRL_obj.h ................................................................. 68
3.3.2 估算器 API 函数 - FAST 库 - est.h、est_states.h............................................................. 98
3.3.3 硬件抽象层 (HAL) API 函数 - hal.c、hal.h、hal_obj.h ...................................................... 135
3.3.4 用户设置 – user.c、user.h、userParams.h .................................................................. 153
3.3.5 其他函数 .......................................................................................................... 162
3.4 InstaSPIN-MOTION 和 SpinTAC API .................................................................................. 162
3.4.1 头文件、公共库和 ROM 库 ..................................................................................... 166
3.4.2 版本信息 .......................................................................................................... 167
3.4.3 SpinTAC 结构名称............................................................................................... 168
3.4.4 SpinTAC 变量 .................................................................................................... 169
3.5 SpinTAC API .............................................................................................................. 170
3.5.1 SpinTAC 速度控制............................................................................................... 170
3.5.2 SpinTAC 速度移动............................................................................................... 173
3.5.3 SpinTAC 速度规划............................................................................................... 175
3.5.4 SpinTAC 速度识别............................................................................................... 179
3.5.5 SpinTAC 位置转换............................................................................................... 181
3.5.6 SpinTAC 位置控制............................................................................................... 183
3.5.7 SpinTAC 位置移动............................................................................................... 186
3.5.8 SpinTAC 位置规划............................................................................................... 189
3.5.9 SpinTAC 函数 .................................................................................................... 192
4 用用户户参参数数 (user.h)............................................................................................................... 203
4.1 电流和电压................................................................................................................. 204
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内容
ZHCU083F–January 2013–Revised July 2014
SPRUHJ1 — http://www-s.ti.com/sc/techlit/SPRUHJ1
版权 © 2013–2014, Texas Instruments Incorporated
www.ti.com.cn
4.1.1 USER_IQ_FULL_SCALE_FREQ_Hz ......................................................................... 204
4.1.2 USER_IQ_FULL_SCALE_VOLTAGE_V ..................................................................... 204
4.1.3 USER_ADC_FULL_SCALE_VOLTAGE_V .................................................................. 204
4.1.4 USER_VOLTAGE_SF .......................................................................................... 204
4.1.5 USER_IQ_FULL_SCALE_CURRENT_A .................................................................... 204
4.1.6 USER_ADC_FULL_SCALE_CURRENT_A ................................................................. 205
4.1.7 USER_CURRENT_SF ......................................................................................... 205
4.1.8 USER_NUM_CURRENT_SENSORS ........................................................................ 205
4.1.9 USER_NUM_VOLTAGE_SENSORS ........................................................................ 205
4.1.10 I_A_offset、I_B_offset、I_C_offset ......................................................................... 205
4.1.11 V_A_offset、V_B_offset、V_C_offset ...................................................................... 205
4.2 时钟与定时器 .............................................................................................................. 206
4.2.1 USER_SYSTEM_FREQ_MHz ................................................................................ 206
4.2.2 USER_PWM_FREQ_kHz ...................................................................................... 206
4.2.3 USER_MAX_VS_MAG_PU .................................................................................... 206
4.2.4 USER_PWM_PERIOD_usec .................................................................................. 206
4.2.5 USER_ISR_FREQ_Hz ......................................................................................... 206
4.2.6 USER_ISR_PERIOD_usec .................................................................................... 207
4.3 抽取率 ...................................................................................................................... 207
4.3.1 USER_NUM_PWM_TICKS_PER_ISR_TICK................................................................ 207
4.3.2 USER_NUM_ISR_TICKS_PER_CTRL_TICK ............................................................... 207
4.3.3 USER_NUM_CTRL_TICKS_PER_CURRENT_TICK ...................................................... 207
4.3.4 USER_NUM_CTRL_TICKS_PER_EST_TICK .............................................................. 207
4.3.5 USER_NUM_CTRL_TICKS_PER_SPEED_TICK .......................................................... 207
4.3.6 USER_NUM_CTRL_TICKS_PER_TRAJ_TICK ............................................................ 208
4.3.7 USER_CTRL_FREQ_Hz ....................................................................................... 208
4.3.8 USER_EST_FREQ_Hz ........................................................................................ 208
4.3.9 USER_TRAJ_FREQ_Hz ....................................................................................... 208
4.3.10 USER_CTRL_PERIOD_usec ................................................................................ 208
4.3.11 USER_CTRL_PERIOD_sec .................................................................................. 208
4.4 限制 ......................................................................................................................... 208
4.4.1 USER_MAX_NEGATIVE_ID_REF_CURRENT_A ......................................................... 208
4.4.2 USER_ZEROSPEEDLIMIT .................................................................................... 209
4.4.3 USER_FORCE_ANGLE_FREQ_Hz .......................................................................... 209
4.4.4 USER_MAX_CURRENT_SLOPE_POWERWARP ......................................................... 209
4.4.5 USER_MAX_ACCEL_Hzps .................................................................................... 209
4.4.6 USER_MAX_ACCEL_EST_Hzps.............................................................................. 209
4.4.7 USER_MAX_CURRENT_SLOPE ............................................................................ 209
4.4.8 USER_IDRATED_FRACTION_FOR_RATED_FLUX ...................................................... 210
4.4.9 USER_IDRATED_FRACTION_FOR_L_IDENT ............................................................. 210
4.4.10 USER_IDRATED_DELTA .................................................................................... 210
4.4.11 USER_SPEEDMAX_FRACTION_FOR_L_IDENT ........................................................ 210
4.4.12 USER_FLUX_FRACTION .................................................................................... 210
4.4.13 USER_POWERWARP_GAIN ................................................................................ 210
4.4.14 USER_R_OVER_L_EST_FREQ_Hz ........................................................................ 210
4.5 极............................................................................................................................ 210
4.5.1 USER_VOLTAGE_FILTER_POLE_Hz ...................................................................... 210
4.5.2 USER_VOLTAGE_FILTER_POLE_rps ...................................................................... 210
4.5.3 USER_OFFSET_POLE_rps ................................................................................... 211
4.5.4 USER_FLUX_POLE_rps ....................................................................................... 211
4.5.5 USER_DIRECTION_POLE_rps ............................................................................... 211
4.5.6 USER_SPEED_POLE_rps .................................................................................... 211
4.5.7 USER_DCBUS_POLE_rps .................................................................................... 211
3
ZHCU083F–January 2013–Revised July 2014
内容
SPRUHJ1 — http://www-s.ti.com/sc/techlit/SPRUHJ1
版权 © 2013–2014, Texas Instruments Incorporated
www.ti.com.cn
4.5.8 USER_EST_KAPPAQ .......................................................................................... 211
4.6 使用电机和识别设置 ...................................................................................................... 211
4.6.1 USER_MOTOR_TYPE ......................................................................................... 211
4.6.2 USER_MOTOR_NUM_POLE_PAIRS ....................................................................... 211
4.6.3 USER_MOTOR_Rr ............................................................................................. 211
4.6.4 USER_MOTOR_Rs ............................................................................................. 212
4.6.5 USER_MOTOR_Ls_d .......................................................................................... 212
4.6.6 USER_MOTOR_Ls_q .......................................................................................... 212
4.6.7 USER_MOTOR_RATED_FLUX .............................................................................. 212
4.6.8 USER_VOLTAGE_FILTER_POLE_Hz ...................................................................... 212
4.6.9 USER_MOTOR_RES_EST_CURRENT ..................................................................... 212
4.6.10 USER_MOTOR_IND_EST_CURRENT ..................................................................... 212
4.6.11 USER_MOTOR_MAX_CURRENT .......................................................................... 212
4.6.12 USER_MOTOR_FLUX_EST_FREQ_Hz ................................................................... 212
4.6.13 USER_MOTOR_ENCODER_LINES（仅限 InstaSPIN-MOTION） ..................................... 212
4.6.14 USER_MOTOR_MAX_SPEED_KRPM（仅限 InstaSPIN-MOTION） .................................. 212
4.6.15 USER_SYSTEM_INERTIA（仅限 InstaSPIN-MOTION）................................................. 213
4.6.16 USER_SYSTEM_FRICTION（仅限 InstaSPIN-MOTION） .............................................. 213
4.6.17 USER_SYSTEM_BANDWIDTH_SCALE（仅限 InstaSPIN-MOTION） ................................ 213
4.7 SpinTAC 参数（spintac_velocity.h 和 spintac_position.h）......................................................... 213
4.7.1 宏定义 ............................................................................................................. 213
4.7.2 类型定义 .......................................................................................................... 214
4.7.3 函数 ................................................................................................................ 215
4.8 在 user.h 中设置 ACIM 电机参数 ....................................................................................... 217
4.8.1 从 ACIM 数据表中获取这些参数 ............................................................................... 218
5 管管理理电电机机信信号号..................................................................................................................... 221
5.1 软件必要条件 .............................................................................................................. 222
5.1.1 IQ 满量程频率 .................................................................................................... 222
5.1.2 IQ 满量程电压 .................................................................................................... 222
5.1.3 IQ 满量程电流 .................................................................................................... 224
5.1.4 最大电流 .......................................................................................................... 224
5.1.5 抽取率 ............................................................................................................. 225
5.1.6 系统频率 .......................................................................................................... 225
5.1.7 PWM 频率 ........................................................................................................ 226
5.1.8 最大电压矢量 ..................................................................................................... 226
5.2 硬件必要条件 .............................................................................................................. 227
5.2.1 电流反馈增益 ..................................................................................................... 228
5.2.2 电流反馈极性 ..................................................................................................... 229
5.2.3 电压反馈 .......................................................................................................... 231
5.2.4 电压滤波器极 ..................................................................................................... 233
5.2.5 分流电阻器数量 .................................................................................................. 234
5.2.6 死区时间配置 ..................................................................................................... 234
5.2.7 模拟输入配置 ..................................................................................................... 236
5.2.8 PWM 输出配置 ................................................................................................... 237
6 电电机机识识别别和和状状态态图图............................................................................................................... 238
6.1 InstaSPIN 电机识别....................................................................................................... 239
6.2 电机识别过程概述......................................................................................................... 241
6.2.1 控制器 (CTRL) 状态机........................................................................................... 241
6.2.2 估算器 (EST) 状态机 ............................................................................................ 243
6.2.3 控制器 (CTRL) 和估算器 (EST) 状态机的相关性 ............................................................ 245
6.3 PMSM 和 ACIM 识别过程的差别 ....................................................................................... 247
6.4 必要条件 ................................................................................................................... 247
6.4.1 机械必要条件 ..................................................................................................... 248
4
内容
ZHCU083F–January 2013–Revised July 2014
SPRUHJ1 — http://www-s.ti.com/sc/techlit/SPRUHJ1
版权 © 2013–2014, Texas Instruments Incorporated
www.ti.com.cn
6.4.2 硬件必要条件 ..................................................................................................... 248
6.4.3 软件必要条件 ..................................................................................................... 248
6.4.4 PMSM 电机识别的软件配置 .................................................................................... 248
6.4.5 ACIM 电机识别的软件配置 ..................................................................................... 250
6.5 PMSM 电机完全识别 ..................................................................................................... 251
6.5.1 CTRL_State_Idle 和 EST_State_Idle ......................................................................... 253
6.5.2 CTRL_State_OffLine 和 EST_State_Idle（硬件偏移已校准） ............................................ 253
6.5.3 CTRL_State_OnLine 和 EST_State_RoverL ................................................................ 254
6.5.4 CTRL_State_OnLine 和 EST_State_Rs ...................................................................... 258
6.5.5 CTRL_State_OnLine 和 EST_State_RampUp............................................................... 261
6.5.6 CTRL_State_OnLine 和 EST_State_RatedFlux ............................................................. 263
6.5.7 CTRL_State_OnLine 和 EST_State_Ls....................................................................... 265
6.5.8 CTRL_State_OnLine 和 EST_State_RampDown ........................................................... 267
6.5.9 CTRL_State_OnLine 和 EST_State_MotorIdentified........................................................ 267
6.5.10 CTRL_State_Idle 和 EST_State_Idle ........................................................................ 269
6.6 ACIM 电机完全识别....................................................................................................... 269
6.6.1 CTRL_State_Idle 和 EST_State_Idle ......................................................................... 271
6.6.2 CTRL_State_OffLine 和 EST_State_Idle ..................................................................... 271
6.6.3 CTRL_State_OnLine 和 EST_State_RoverL................................................................. 271
6.6.4 CTRL_State_OnLine 和 EST_State_Rs ...................................................................... 271
6.6.5 CTRL_State_OnLine 和 EST_State_RampUp............................................................... 271
6.6.6 CTRL_State_OnLine 和 EST_State_IdRated ................................................................ 272
6.6.7 CTRL_State_OnLine 和 EST_State_RatedFlux ............................................................. 275
6.6.8 CTRL_State_OnLine 和 EST_State_RampDown ........................................................... 277
6.6.9 CTRL_State_Idle 和 EST_State_LockRotor ................................................................. 278
6.6.10 CTRL_State_OnLine 和 EST_State_Ls ..................................................................... 279
6.6.11 CTRL_State_OnLine 和 EST_State_Rr ..................................................................... 280
6.6.12 CTRL_State_OnLine 和 EST_State_RampDown .......................................................... 281
6.6.13 CTRL_State_OnLine 和 EST_State_MotorIdentified ...................................................... 283
6.6.14 CTRL_State_Idle 和 EST_State_Idle ........................................................................ 284
6.7 PMSM 和 ACIM 电机识别重校准 ....................................................................................... 284
6.7.1 完全识别后的 PMSM 和 ACIM 电机重校准 ................................................................... 284
6.7.2 使用 user.h 中的参数后的 PMSM 和 ACIM 电机重校准 .................................................... 292
6.8 在 user.h 中设置 PMSM 电机参数 ...................................................................................... 292
6.8.1 从 PMSM 数据表中获取参数 ................................................................................... 293
6.9 电机识别故障排除......................................................................................................... 296
6.9.1 通用清单 .......................................................................................................... 296
6.9.2 PMSM 电机识别故障排除....................................................................................... 296
6.9.3 ACIM 电机识别故障排除 ........................................................................................ 302
7 惯惯性性识识别别........................................................................................................................... 303
7.1 InstaSPIN-MOTION 惯性识别........................................................................................... 304
7.2 惯性识别过程概述......................................................................................................... 305
7.3 SpinTAC 速度识别的软件配置 .......................................................................................... 308
7.3.1 包括头文件........................................................................................................ 308
7.3.2 声明全局变量 ..................................................................................................... 308
7.3.3 初始化配置变量 .................................................................................................. 308
7.3.4 调用 SpinTAC 速度识别......................................................................................... 309
7.4 惯性识别故障排除......................................................................................................... 310
7.4.1 ERR_ID ........................................................................................................... 310
7.4.2 2003 错误 ......................................................................................................... 310
7.4.3 2004 错误 ......................................................................................................... 310
7.4.4 2006 错误 ......................................................................................................... 311
7.5 不易识别惯性的应用 ...................................................................................................... 311
5
ZHCU083F–January 2013–Revised July 2014
内容
SPRUHJ1 — http://www-s.ti.com/sc/techlit/SPRUHJ1
版权 © 2013–2014, Texas Instruments Incorporated
