InstaSPIN for a low-speed high-torque motor

which error are you getting?

13 Hz is the maximum speed?

Which HW are you using?  You will need to scale your current and voltage readings to maximize resolution for best results....probably will have to run RsOnline all of the time as well.

But I'm not sure if sensorless observer techniques will be the best solution for an application like this.  You may want to think about a high frequency injection technique if the motor is salient....or stick with using sensors.

Hell Chris,

Thank you for your help again.

Yes, the rated frequency of the motor is 13 Hz.

The error code is USER_ErrorCode_RoverL_estFreq_Hz_High. I used the DRV8312 and HVMTR. Both cases show the same error message.

As you mentioned, I will use the encoder sensor. But I did not come to the encoder lab (lab12?) yet.

I set FULL_SCALE_FREQ to (200) and USER_MOTOR_FLUX_EST_FREQ_Hz to (3).

Then the HVMTR drive with proj_lab02a identified the resistance and inductances.

I will move on to the sensored control.

Thank you.

what values for Rs, Ls, and Flux were identified?

Did you try running it to see how it behaved? 

Here are the result.

Rs = 80.69006

Ld = Lq = 0.5219215

Flux_VpHz = 4.837737

I measured the line-to-line resistance, which showed 159 Ohm. Rs looks good. I did not check the other numbers.

For safety reason, I applied DC 60V from a lab power supply. The motor ran smoothly up to 50 rpm. The higher speed was not achievable probably because the DC voltage is too low.

Very cool. What HW did you say this was?

How low could you run with ForceAngle DISABLED?  I would expect <1 Hz with a flux this large.