FOC speed control: Limit m_speed_pid_set_rpm to achievable RPM when ramp rate is non-zero

vedderb / bldc

The VESC motor control firmware

2.08k stars 1.31k forks source link

FOC speed control: Limit m_speed_pid_set_rpm to achievable RPM when ramp rate is non-zero #709

Closed ljungholm closed 4 months ago

ljungholm commented 4 months ago

If m_speed_pid_set_rpm is allowed to exceed foc_openloop_rpm before index is found, then there will be a jump in torque when index is found.
If m_speed_pid_set_rpm is allowed to exceed [l_min_erpm, l_max_erpm] then there is a wind up effect since it will take time for m_speed_pid_set_rpm to return to valid range due to ramp limit.

ljungholm commented 4 months ago

I created an account in order to post on https://vesc-project.com/forum as requested in CONTRIBUTING, but I do not have permission to create a new post and can't find where to request that permission.

jaykup26 commented 4 months ago

The VESC project forum is pretty inactive these days. Check out the VESC Discord instead

https://discord.gg/JgvV5NwYts