Closed arms22 closed 1 week ago
I have attached a video. Please note that it might be difficult to hear on some speakers.
https://github.com/user-attachments/assets/22a38457-f3e1-4df6-9a8d-104b569c4560
https://github.com/user-attachments/assets/67bb8630-5b98-4379-9b98-5ac135d41f6c
Changing the following eliminated the noise: driver.voltage_limit = 6 -> 8;
However, changing the following caused noise: motor.voltage_limit = 3-> 4;
I suspect that the PWM waveform may be distorted around the driver.voltage_limit
voltage.
I checked the PWM waveform, but did not find any issues. The attached image shows the PWM waveforms of the A/B outputs. The noise occurred precisely when the light blue waveform disappeared. The cause might be related to the driver's specifications. Apologies for the confusion. It seems that setting motor.voltage_limit to less than half of driver.voltage_limit can avoid this issue, so I will proceed with that.
Thank you for sharing the relevant links. It seems that Ua, b, c are saturated and exceeding the maximum value.
Describe the bug
When running the open-loop velocity sample using the ESP32S3 board, a "clicking" or "grinding" noise can be heard from the brushless motor. The noise sounds like a repetitive "krr krr krr".
Build and upload the following code, then send 'T10' from the Serial Monitor.The noise frequency is also proportional to the rotation speed. At 'T1', the noise occurs 3 times per second, while at 'T3', it occurs 9 times per second.There is no noise when using esp32 core version 2.0.7 and SimpleFOC version 2.3.3.
Describe the hardware setup Motor: BDUAV2206-260KV Driver: DRV8311H Microcontroller: ESP32S3 (ESPr® Developer S3 Type-C) Product Link Position Sensor: None Current Sensing: None
IDE you are using IDE: Arduino IDE ESP32 Board Version: v3.0.4 Library Version: SimpleFOC 2.3.4 Compile Settings: USB CDC On Boot: Enabled USB Mode: Hardware CDC and JTAG
Tried the Getting started guide? - if applicable