Search found 24 matches

by Prevas_erra
22 Nov 2017, 16:24
Forum: FOC
Topic: Formulas of Ki, Kp, observer gain
Replies: 3
Views: 2146

Re: Formulas of Ki, Kp, observer gain

In the Vesc tool source you can find these equations: // https://e2e.ti.com/blogs_/b/motordrivecontrol/archive/2015/07/20/teaching-your-pi-controller-to-behave-part-ii double tc = ui->tcBox->value(); double bw = 1.0 / (tc * 1e-6); double kp = l * bw; double ki = r * bw; ui->kpBox->setValue(kp); ui->...
by Prevas_erra
21 Sep 2017, 14:11
Forum: General
Topic: [Solved] Wondering about quadrature encoder connection
Replies: 10
Views: 3312

Re: Wondering about quadrature encoder connection

Its difficult to see (in the SW) if encoder is supported with a DC motor. Set motor type DC, sensor port ABI and correct count. Connect the encoder and see in Vesc-tool realtime data rotor position, erpm and tacho fields is something happens when you turn the encoder. Make sure the electrical interf...
by Prevas_erra
14 Sep 2017, 08:06
Forum: General
Topic: Total dead-time for MOSFETs.
Replies: 5
Views: 2420

Re: Total dead-time for MOSFETs.

Hi 1. 50 nS minimum added to the handshaking. There is an internal hand shake between the high side and low side MOSFETs during switching transitions to prevent current shoot-through. 2. I think the timers are clocked with 168 MHz so one tick is 5.95 nS (when the value is 0 to 127). 3. This is used ...
by Prevas_erra
13 Sep 2017, 12:35
Forum: FOC
Topic: Motor doesn't spin, only squeaks (FOC with encoder)
Replies: 13
Views: 4708

Re: Motor doesn't spin, only squeaks (FOC with encoder)

You probably have to change the tuning of the PID settings for speed and position when using an encoder instead of sensorless. So start with a low P and zero I and D to see if you can get it to start. Increase P and add I and D until you get the response you want. Nobody can tell you what you should...
by Prevas_erra
08 Jul 2017, 09:36
Forum: Related Hardware
Topic: RESC: Automotive quality high voltage fork from the VESC
Replies: 43
Views: 18782

Re: Moving around pins on the STM32 and upgrading to f7 over f4

No DRV, gate drivers! The whole objective of this project is to make a high voltage/amperage controller. Upgrading the processor would just be icing on the cake. I think I am done! Anyone see anything wrong? Hi Still many things wrong, but it seems you don't listen to the advice you got so I won't ...
by Prevas_erra
01 Jun 2017, 08:21
Forum: Related Hardware
Topic: RESC: Automotive quality high voltage fork from the VESC
Replies: 43
Views: 18782

Re: Moving around pins on the STM32 and upgrading to f7 over f4

Some problems: VSSA missing GND connection. SENS1,2 and 3 connected wrong, R1 top should be connected to HSA and R2 top to the MCU. 1uF is too much for C2 CAN termination, 10nF is enough. The RX pin will output 5V levels, why not select a 3.3V CAN chip. Current sense will output a 2.5V +- current si...
by Prevas_erra
30 May 2017, 07:56
Forum: Related Hardware
Topic: RESC: Automotive quality high voltage fork from the VESC
Replies: 43
Views: 18782

Re: Moving around pins on the STM32 and upgrading to f7 over f4

Hi Don't use an STM32F7 if you are not prepared for a lot of code changes! We are using the ST drivers for the timers and ADC, not ChibiOS drivers. ST does not (at this time) have standard peripheral drivers for F7, they changed to HAL that is incompatible. http://www.st.com/en/embedded-software/stm...
by Prevas_erra
08 Mar 2017, 10:28
Forum: General
Topic: Battery to use for VESC configuration and motor detection
Replies: 11
Views: 4181

Re: Battery to use for VESC configuration and motor detection

That motor can have a gearbox attached, and it looks like you have that (from the metal line in the middle). With the gearbox you reduce the speed of the motor to the output shaft and multiply the torque. So you want to buy that motor with the right reduction gear. There are these options to choose ...
by Prevas_erra
11 Feb 2017, 11:42
Forum: FOC
Topic: SVM and current sense
Replies: 15
Views: 4688

Re: SVM and current sense

The HW is setup is to sample all channels every time and then the SW decides wich ones to use in each vector.
Since we run at 2 MSPS the time between samples is short compared to the PWM period.
by Prevas_erra
11 Feb 2017, 09:14
Forum: FOC
Topic: SVM and current sense
Replies: 15
Views: 4688

Re: SVM and current sense

In HW_410.c function hw_setup_adc_channels(void) you define what inputs and in what order pins are sampled. The sequence is 4 pins from each ADC are sampled each PWM period and put in the variable ADC_Value[] by DMA. In HW_410.c function hw_init_gpio(void) the pins that are used for analog input are...

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