Hello,
I have been trying to measure my system inertia in order to close the speed loop on my motor controller. I am using the boostXL-DRV8301 REVB with the F28027 microcontroller.
I am trying to follow the procedure outlined in Dave Wilson's article "Teaching Your PI Controller to Behave (Part VIII)". I am having a problem because I don't know how to get the static friction plus acceleration and the static friction torque out of the FAST and at the required sampling time, Ts -which think is Ti in the code.
The lab manual shows that lab 5C, inertia ID, does not apply to the F28027.
Is there any way to get the torque and sample data from the FAST in a 28027, or do you just have to poke in numbers for the gains until it works?
-Chuck