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micander / atrias

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Motor B sudden torque drop #61

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Happens intermittently.  Motor B will spontaneously exhibit ~40% less torque 
than motor A.

Used a spring gauge with the torque controller to diagnose.  Disconnecting 
individual amplifiers returned to normal, albeit half, torque capacity.

Corrected itself temporarily after rewiring.  Spontaneously recurred once.

We suspect a faulty electronic connection between one of the amps and the motor.

Original issue reported on code.google.com by Christia...@gmail.com on 11 Apr 2012 at 10:01

GoogleCodeExporter commented 9 years ago 
After further investigation we have now identified that the secondary amplifier 
for the B motor is disabling it's self due to a current overshoot error. The 
cause of this error, however, has not been identified. I have tried manually 
tuning current feedback loop, because from what I had read the only thing known 
to cause the error is a badly tuned current loop. However, this has not fixed 
the problem. I am now beginning to suspect that the amp needs to be replaced.

Original comment by kit...@gmail.com on 13 Apr 2012 at 10:15

GoogleCodeExporter commented 9 years ago

Original comment by jrvanwhy on 30 Aug 2012 at 4:36