Hello All,
I've gone through most of the labs and have the motor identified well, and the speed controller tuned. I would like to use HFI, since I would like to operate the motor at sub-100 RPM, perhaps 10RPM. The FAST estimator starts to get a bit into the noise floor and can't get enough back EMF and the motor vibrates a lot when turning at slow speeds.
I have a fairly large motor with a very significant amount of cogging torque. I would think it would be a fairly salient motor, but I am certainly not an expert. Is there any way to measure saliency?
I've entered in as many parameters as possible into lab21, and I haven't been able to spin the shaft at all. At low HFI gain, I just get the motor singing at the HFI frequency (~625Hz). If I increase the measurement amplitudes, it just gets louder. I tried even 0.1 coarse and 0.05 fine, it's still quite audible. Is this normal? I've increased the gain to ~30-50 range, and the shaft oscillates rather violently. I am getting access to a current probe tomorrow, so I do not have much confidence the magnitudes are not heavily saturating the stator.
When tuning kspd, there is mention of gThrottle, but it isn't in the user.h file. Do I need to adjust this in the expression watch window?
Do you know why the motor isn't attempting to move? It just usually sits there and hums.. I've added a watch to the angle returned from the HFI and it seems to be, at least, stable. Shouldn't it try to move?
It seems that this lab is setup for torque control only. How difficult would it be to port to a SpeedTAC control?
lots of questions, I know, but any attempt at helping me would be appreciated!
Stephen
