search

vedderb / vesc_tool

The source code for VESC Tool. See vesc-project.com
GNU General Public License v3.0
700 stars 517 forks source link

Prevent cogging and enable low rpm control #326

Open shulnak09 opened 1 year ago

shulnak09 commented 1 year ago

Hi,

I am currently working on an autonomous scaled car that uses VESC to control a BLDC motor which powers the wheels. The small vehicle is four-wheel driven.

I am implementing a planning algorithm that shall make the vehicle go from rest to a desired speed that is less than 1 m/s. The problem I am facing is for the low-speed control input to the Vesc say from 0 to 0.5m/s the motor cogs. I believe the input current is not enough to overcome the deadband torque of the motor.

Is there a way, I can tune the VESC such that it can overcome the initial torque resistance and rotate at slow speeds say 500 rpm?

I will be really grateful for any help in this regard. Below, I have attached the setup for BLDC motor and wheel.

Car

Regards Anshul

Rubeer commented 1 year ago

For low RPM torque you need some type of absolute position measurement. For example hall sensors or HFI.