LAUNCHXL-F280025C: FAST and eSMO

peter shi

Hi,FAST and eSMO estimators can work simultaneously using the below definition. How can I switch the estimator between FAST and eSMO during the running stage? Thanks

#if defined(MOTOR1_FAST) && defined(MOTOR1_ESMO) // (OK<->OK)

over 2 years ago

+1 Yanming Luo over 2 years ago

TI__Guru** 115500 points

Yes. You just need to set/change the value of motorVars_M1.estimatorMode.

motorVars_M1.estimatorMode = ESTIMATOR_MODE_ESMO;

motorVars_M1.estimatorMode = ESTIMATOR_MODE_FAST;

0 peter shi over 2 years ago in reply to Yanming Luo

Prodigy 85 points

Thanks. I think FAST estimator still needs open loop drag to some speed for a low induction motor.

0 Yanming Luo over 2 years ago in reply to peter shi

TI__Guru** 115500 points

FAST has the force angle feature for startup that just needs several electrical cycles for all of the motors include low induction motor.

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LAUNCHXL-F280025C: FAST and eSMO