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Hi there,
We are in the process of adding QEP to our InstaSPIN-FOC based system that does run smoothly with FAST already.
Could you please provide some clarification on the unit of measure of estOutputData.fm_lp_rps used in is07_speed_control.c
There are two outputs of the estimator that are used to generate phase info to feed into the PARK algorithm in is07_speed_control.c.
They are estOutputData.fm_lp_rps and estOutputData.angle_rad now I have got a matched angle_rad out of my QEP code and can replace the estimated one with my QEP one but I am struggling to understand what unit of measure estOutputData.fm_lp_rps is.
This does not seem to be radians per second as it is not 2PI times the frequency of rotation. Can you clarify how this number is generated and what its units are?
I can run the angle info from my QEP into the control loop once the motor is running (using a dynamic switch) and it seems to hang together although there is a discrepancy between the estOutputData.fm_lp_rps and what I believe my number is that should replace it. The motor seems to run okay at medium speed (less than 25Hz) but at higher speeds the units overcurrent trip fires and the motor stops. I am wondering if the problem is in the difference between estOutputData.fm_lp_rps and my number. Hence the question of clarification
Many thanks,
Michael
