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Problems with theta calculation in PMSM Vector Control function

Question asked by Peter Dufault on Jun 27, 2014
Latest reply on Jun 27, 2014 by Peter Dufault

I'm still working with something based on AN3206.  I'm trying to figure out what's wrong with my commutation, and I started reading back the theta from the eTPU.  It doesn't make any sense to me.

 

I have a 4000 count encoder and a motor with two pole pairs.  According to the function description theta = (2 * encoder)/4000, so theta should advance twice for each cycle.  However, it isn't even synchronized with the zero position of the encoder.  See the attached plot.

 

In etpu_pmsmvc.c scale is set to scale = motor_pole_pairs * 0x1000000 / qd_pc_per_rev; .

 

Since there was not a "get theta" function I added one like this:

fract24_t fs_etpu_pmsmvc_get_theta(uint8_t channel)

{

    uint32_t *pba;

 

    pba = fs_etpu_data_ram(channel) + (0x4000 >> 2);

    return (fract24_t)(*(pba + ((FS_ETPU_PMSMVC_THETA_OFFSET) >> 2)));

}

 

Any ideas?

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