[phpBB Debug] PHP Warning: in file [ROOT]/phpbb/session.php on line 594: sizeof(): Parameter must be an array or an object that implements Countable
[phpBB Debug] PHP Warning: in file [ROOT]/phpbb/session.php on line 650: sizeof(): Parameter must be an array or an object that implements Countable
[phpBB Debug] PHP Warning: in file [ROOT]/phpbb/session.php on line 1110: Cannot modify header information - headers already sent by (output started at [ROOT]/includes/functions.php:3903)
[phpBB Debug] PHP Warning: in file [ROOT]/phpbb/session.php on line 1110: Cannot modify header information - headers already sent by (output started at [ROOT]/includes/functions.php:3903)
[phpBB Debug] PHP Warning: in file [ROOT]/phpbb/session.php on line 1110: Cannot modify header information - headers already sent by (output started at [ROOT]/includes/functions.php:3903)
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/bbcode.php on line 494: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead
[phpBB Debug] PHP Warning: in file [ROOT]/includes/functions.php on line 5277: Cannot modify header information - headers already sent by (output started at [ROOT]/includes/functions.php:3903)
[phpBB Debug] PHP Warning: in file [ROOT]/includes/functions.php on line 5277: Cannot modify header information - headers already sent by (output started at [ROOT]/includes/functions.php:3903)
[phpBB Debug] PHP Warning: in file [ROOT]/includes/functions.php on line 5277: Cannot modify header information - headers already sent by (output started at [ROOT]/includes/functions.php:3903)
vedder.se forums • Custom hardware, VESC firmware
Page 1 of 1

Custom hardware, VESC firmware

Posted: 26 Sep 2016, 12:50
by sjacek
Hi guys,

I've made custom hardware for ESC and I'd like to use VESC firmware with FOC and everything.

Main differences between orginal VESC and mine:
- ACS711KEXLT-31AB-T Hall sensors for current measurements
- hardware 3rd order Sallen-Key Low-pass Filter (Butterworth type), 20kHz cut-off freq
- DRV8303

My problems:
- it works only in FOC mode
- current and voltage waveforms on phases looks wrong
- motor is getting hot
- it doesn't work in BLDC mode (param detection failed)

Some screenshots:
At start:



Running (strange peaks):



Could someone look at this pictures and get me on the right track? Some suggestions, anything?

Re: Custom hardware, VESC firmware

Posted: 26 Sep 2016, 21:11
by rew
Possibly you have a current measurement on the wrong phase. Or maybe the sign of one of the current measurements.

Re: Custom hardware, VESC firmware

Posted: 27 Sep 2016, 09:24
by sjacek
I checked static current and voltage measurements. They are ok.
What do you think about my filter? Maybe cut-off freq is too low?

Re: Custom hardware, VESC firmware

Posted: 27 Sep 2016, 17:47
by rew
Oh.. .Yeah. that might be too low.

Suppose your motor is running at say 60k eRPM (almost 10k real RPM on my 7-pole motor).

Then you're doing 1000 revolutions per second. So the phase currents are doing only 1kHZ. 20kHz is plenty!

.... except.... the current is normally measured only during the on-time of the low-side FETs. So the measured value will normally go from 0 (when the high side fet is on) to the wanted value about 40k times per second.... But if you have ACS sensors mounted in the phases, then that shouldn't be an issue, so 20kHz, should indeed be plenty.

Re: Custom hardware, VESC firmware

Posted: 28 Sep 2016, 09:30
by sjacek
ACS are on phases.
Are there any crucial parameters dependent on hardware (dead time etc...) which I can missed?

Some times I get DRV fault, but when I check Status Register 1 there's always 0.