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Motorola M68HC08 User Manual

Page 155

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User Guide

Tuning for Customer Motor

DRM028 — Rev 0

Designer Reference Manual

MOTOROLA

User Guide

155

9. Set PC master software control mode and start motor (see

Application Control

and

PC Master Software (Remote)

Operating Mode

)

10. Set the speed to the middle of minimal and maximal speed

11. Increase, step by step, the proportional gain

SPEED_PIREG_P_GAIN with PC master software, until speed
noise or oscillation appears, or up to 128

12. If SPEED_PIREG_P_GAIN is set to 128, increase proportional

gains in SPEED_PIREG_P_GAINSCALELEFT further with PC
master software, steps 0, 1, 2 ... 8 otherwise leave
SPEED_PIREG_P_GAINSCALELEFT as 0

13. Increase, step by step, the integral gain SPEED_PIREG_I_GAIN

with PC master software, up to current oscillation or noise, or up
to 128

14. If SPEED_PIREG_I_GAIN is set to 128, do further integral gain

increases to SPEED_PIREG_I_GAINSCALELEFT with PC
master software, steps 6, 5, 4...0; otherwise, leave
SPEED_PIREG_I_GAINSCALELEFT as 7

15. You can further evaluate the setting of the regulator parameters in

order to get a smoother current waveform until the regulation
seems to be performing well

16. Open const_cust_x.h and modify the regulator parameters with

the final variable values evaluated with PC master software

17. Start motor (see

Application Control

and

PC Master Software

(Remote) Operating Mode

)

18. Set minimal desired speed

19. If the displayed real speed is not able to go down to the desired

minimal speed, it is necessary to decrease minimal PWM duty
cycle DUTY_PWM_MIN in const_cust_x.h!

20. Then, you can tune dynamic characteristics of speed regulators

(steps

22.

to

29.

) or finish tuning the regulators

21. Start motor (see

Application Control

and

PC Master Software

(Remote) Operating Mode

)

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Freescale Semiconductor, Inc.

For More Information On This Product,

Go to: www.freescale.com

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