Drive control with 10 pole pairs

EFeru / hoverboard-firmware-hack-FOC

With Field Oriented Control (FOC)

GNU General Public License v3.0

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Drive control with 10 pole pairs #264

Closed rostik9810 closed 2 years ago

rostik9810 commented 2 years ago

Your System

VARIANT: VARIANT_USART
CONTROL TYPE: FOC_CTRL
CONTROL MODE: SPD_MODE
What is your application?
- RC Platform with Raspberry Pi

How to control a PMSM motor with 20 poles (10 pole pairs)? I changed n_polePairs from 15U to 10U in BLDC_controller_data.c, but it does not work. The motor reaches maximum rpm and becomes uncontrollable. SIN control in VLT_MODE is fine. Is there a solution?

Candas1 commented 2 years ago

Hi,

Pole pairs are only used for rpm calculation. You must have an issue with hall sensor sequence. https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Firmware-Compatibility#troubleshooting

rostik9810 commented 2 years ago

Hi,

Pole pairs are only used for rpm calculation. You must have an issue with hall sensor sequence. https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Firmware-Compatibility#troubleshooting

Tried all 6 hall combinations, doesn't work. Any other solutions?

Candas1 commented 2 years ago

Do you really have to use speed mode? You can use voltage mode as a workaround.

rostik9810 commented 2 years ago

Yes, because when controlling for speed, the platform goes straight ahead. It helped to change the sign in line 2590, file BLDC_controller.c PI_clamp_fixdt_l((int16_T)-rtb_Gain3, rtP->cf_nKp, rtP->cf_nKi, rtDW->UnitDelay4_DSTATE_eu, rtb_TmpSignalConversionAtLow_Pa[0], rtb_TmpSignalConversionAtLow_Pa[1], rtDW->Divide1, &rtDW->Merge, &rtDW->PI_clamp_fixdt_l4); But now the rpm is not counted correctly.

UPD: Set 100RPM, Feedback 50RPM, but in fact 75RPM.

Candas1 commented 2 years ago

Have you changed anything else in the firmware ? What you set should be what you get as feedback. Are you sure about the number of poles ?