Formulas of Ki, Kp, observer gain

Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable
Nathan
Posts: 4
Joined: 22 Nov 2017, 14:15
[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable

Formulas of Ki, Kp, observer gain

Postby Nathan » 22 Nov 2017, 14:53

Hi to all! Can anybody give formulas for parameters Ki, Kp, observer gain? I can't calculate them in VESC Tool. I think, because a motor, which I use (), have very high inductivity - 12000mH.

Prevas_erra
Posts: 24
Joined: 11 Apr 2016, 16:03
Location: Stockholm
[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable

Re: Formulas of Ki, Kp, observer gain

Postby Prevas_erra » 22 Nov 2017, 16:24

In the Vesc tool source you can find these equations:
// https://e2e.ti.com/blogs_/b/motordrivec ... ve-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->kiBox->setValue(ki);

void DetectFoc::on_calcGainButton_clicked()
{
double lambda = ui->lambdaBox->value() / 1e3;
//Lambda in Weber
ui->obsGainBox->setValue((0.001 / (lambda * lambda)));


Eric

rew
Posts: 943
Joined: 25 Mar 2016, 12:29
Location: Delft, Netherlands.
[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable

Re: Formulas of Ki, Kp, observer gain

Postby rew » 25 Nov 2017, 11:38


pf26
Posts: 310
Joined: 28 Mar 2016, 14:37
Location: FR Valence
[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable

Re: Formulas of Ki, Kp, observer gain

Postby pf26 » 26 Nov 2017, 14:31

From the link with the motor website, it is said to have 17.8 ohms winding ! If true, I doubt the motor will tolerate more than a few amps for more than a few secs. And this is not suitable for the VESC unless you change the shunts. Possibly 12000mH is in fact 12mH (12000uH), which is already quite a lot.


[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable
[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable

Return to “FOC”

Who is online

Users browsing this forum: No registered users and 2 guests