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by pf26
18 Sep 2017, 13:22
Forum: General
Topic: Watt Control Via Duty Cycle Control?
Replies: 14
Views: 1050

Re: Watt Control Via Duty Cycle Control?

With A= 10A = Battery Amps, B= 50A = Motor Amps, C= 20% = Duty Cycle, D= 5V = Present Back Emf V, E= 10V = Effective PWM Voltage F= 0.1ohm = Winding Resistance, G= 50V = Pack Voltage, H= 500W = Desired Wattage, I= 100kv = Motor KV, J= 500rpm = Present RPM It seems like half of your 500W is lost in t...
by pf26
17 Sep 2017, 09:33
Forum: VESC Projects
Topic: MiVESC - smaller version of VESC 6
Replies: 6
Views: 1224

Re: MiVESC - smaller version of VESC 6

Did you consider to monitor the Fets Vds instead of using shunts as done here: http://www.ti.com/tool/TIDA-00774?jktype=design
Maybe not linear enough for sensorless FOC though. But so much saved space..
by pf26
16 Sep 2017, 18:01
Forum: General
Topic: [Solved] Wondering about quadrature encoder connection
Replies: 10
Views: 756

Re: Wondering about quadrature encoder connection

The VESC requires encoders with A, B and I outputs. Anyway, how would you get an absolute position otherwise ? (absolute position is necessary for sensored FOC)
I think A, B and I connect to Hall 1, 2, 3 respectively.
As for the filter, the most important is to get rid of the 3 capacitors.
by pf26
14 Sep 2017, 12:31
Forum: General
Topic: Dual control
Replies: 9
Views: 648

Re: Dual control

Most likely you are right. mc_interface_set_duty( ) is where the duty is sent to the motor control code, and this should be avoided when you don't want it. I think fabsf() just takes the absolute value of a float. MIN_MS_WITHOUT_POWER is defined to be 500 : #define MIN_MS_WITHOUT_POWER 500 When conf...
by pf26
14 Sep 2017, 06:47
Forum: General
Topic: Dual control
Replies: 9
Views: 648

Re: Dual control

send_duty seem to only be used to allow transmission of the duty cycle to other VECSs via CAN bus. I think you need to set "current_mode = false" in cases you want this app not to control the VESC output current and leave the UART do it instead. if (ms_without_power > 1000) { current_mode ...
by pf26
14 Sep 2017, 06:29
Forum: FOC
Topic: Motor doesn't spin, only squeaks (FOC with encoder)
Replies: 13
Views: 897

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

The offset was different each time because the resistor-capacitor of the hall filter introduces a delay in the signal. And depending upon at what speed you reached the Index, this delay would translate in a more or less large offset angle. The position accuracy has to be quite good iin FOC since we ...
by pf26
13 Sep 2017, 12:38
Forum: FOC
Topic: Motor doesn't spin, only squeaks (FOC with encoder)
Replies: 13
Views: 897

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

Did you try to simply have the motor to turn if encoder FOC (in current controlled mode) ? If the motor turns in sensorless FOC than it means current sensing is ok, and most likely your encoder signals get perturbated when the motor is powered. You may have a look at the Rotor Position tab once the ...
by pf26
13 Sep 2017, 07:58
Forum: FOC
Topic: Motor doesn't spin, only squeaks (FOC with encoder)
Replies: 13
Views: 897

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

Did you try to make the motor spin in sensorless FOC mode ?
It seems like it works in BLDC mode (so using Bemf).
Most likely there is an issue with your current measurements (see Bemf Plot, Currents tab.) to check.
What motor do you use ? What were the detected parameters in FOC (R and H) ?
by pf26
12 Sep 2017, 09:23
Forum: FOC
Topic: Encoder detection not working
Replies: 3
Views: 1053

Re: Encoder detection not working

If the encoder seems to work by hand, and not when the motor is spinning, than you might have electrical noise issue ? You can have a look in the rotor position tab of BLDCtools to check how the encoder position looks like when the motor is turned by hand, and when it is powered (possibly in sensorl...
by pf26
12 Sep 2017, 07:12
Forum: VESC Projects
Topic: Solar car races
Replies: 52
Views: 7012

Re: Solar car races

Maybe you could also have a look at your voltage samples right after releasing the motor in bldc mode, using BEMF plot in BLDCtools. You have to start the motor, then click "now" in the plot tab, and press ESC right after to release the motor. Below you can see how the voltage phase stays ...

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