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Zubax / sapog

Sapog - advanced multiplatform ESC firmware
https://kb.zubax.com/x/cYAh
BSD 3-Clause "New" or "Revised" License
5 stars 2 forks source link

Tune spinup settings for Valenok #47

Open pavel-kirienko opened 2 years ago

suzonch commented 2 years ago

With this parameters the motor spins pretty okay

cfg list:

enum_bemf                   = 20          [5, 500] (20)
enum_steps                  = 20          [6, 200] (20)
enum_max_step               = 50000       [2000, 100000] (50000)
mot_pwm_hz                  = 60000       [20000, 75000] (60000)
mot_pwm_dt_ns               = 600         [400, 800] (600)
mot_tim_adv_min             = 5           [0, 20] (5)
mot_tim_adv_max             = 15          [0, 29] (15)
mot_tim_cp_max              = 300         [100, 50000] (300)
mot_tim_cp_min              = 600         [100, 50000] (600)
mot_blank_usec              = 40          [10, 300] (40)
mot_bemf_win_den            = 4           [3, 8] (4)
mot_bemf_range              = 90          [10, 100] (90)
mot_zc_fails_max            = 100         [6, 300] (100)
mot_comm_per_max            = 4000        [1000, 10000] (4000)
mot_spup_st_cp              = 20000       [10000, 300000] (100000)
mot_spup_to_ms              = 5000        [100, 9000] (5000)
mot_spup_blnk_pm            = 100         [1, 300] (100)
rpmctl_p                    = 0.000099999 [0.000000000, 1.000000000] (0.000099999)
rpmctl_d                    = 0.000000000 [0.000000000, 1.000000000] (0.000000000)
rpmctl_i                    = 0.001000000 [0.000000000, 10.000000000] (0.001000000)
uavcan.node.id              = 255         [0, 255] (255)
mot_v_min                   = 8.000000000 [0.500000000, 10.000000000] (2.500000000)
mot_v_spinup                = 1.000000000 [0.009999999, 10.000000000] (0.500000000)
mot_spup_vramp_t            = 1.000000000 [0.000000000, 10.000000000] (3.000000000)
mot_dc_accel                = 0.090000003 [0.001000000, 0.500000000] (0.090000003)
mot_dc_slope                = 5.000000000 [0.100000001, 20.000000000] (5.000000000)
mot_num_poles               = 14          [2, 100] (14)
ctl_dir                     = 0           [0, 1] (0)
mot_rpm_min                 = 1000        [50, 5000] (1000)
mot_i_max                   = 20.000000000[1.000000000, 60.000000000] (20.000000000)
mot_i_max_p                 = 0.200000002 [0.009999999, 2.000000000] (0.200000002)
mot_lpf_freq                = 20.000000000[1.000000000, 200.000000000] (20.000000000)
mot_stop_thres              = 7           [1, 100] (7)
uavcan.pub.feedback.id      = 65535       [0, 65535] (65535)
uavcan.pub.power.id         = 65535       [0, 65535] (65535)
uavcan.pub.dynamics.id      = 65535       [0, 65535] (65535)
uavcan.pub.status.id        = 65535       [0, 65535] (65535)
uavcan.sub.readiness.id     = 65535       [0, 65535] (65535)
uavcan.sub.note_response.id = 65535       [0, 65535] (65535)
uavcan.sub.setpoint.id      = 65535       [0, 65535] (65535)
control_mode_rpm            = 1           [0, 1] (1)
id_in_esc_group             = 255         [0, 255] (255)
ttl_milliseconds            = 500         [0, 1000] (500)
pwm_enable                  = 0           [0, 1] (0)
pwm_min_usec                = 1000        [800, 1200] (1000)
pwm_max_usec                = 2000        [1800, 2200] (2000)