FOC on 12S - HW4.7 & 4.10

Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
okp
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FOC on 12S - HW4.7 & 4.10

Postby okp » 15 Dec 2015, 13:11

Last edited by okp on 28 Dec 2015, 08:18, edited 1 time in total.

benjamin
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Re: FOC on 12S - FW4.7 & 4.10

Postby benjamin » 15 Dec 2015, 13:24


okp
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Re: FOC on 12S - FW4.7 & 4.10

Postby okp » 16 Dec 2015, 16:01

Hey Benjamin,

do you want me to send you two 6S pack ? or just get them shipped to you?

I can do that if that helps, as you are not gonna pay for all the prototyping / community!

benjamin
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Re: FOC on 12S - FW4.7 & 4.10

Postby benjamin » 17 Dec 2015, 18:38

I actually have a 12s setup (that I need to assemble again), but thanks anyway. Recently I have been very busy, but this weekend I will do some testing on 12s for sure.

Yesterday I connected two power supplies in series and tested on 45V on a 4.10 VESC that I assembled after work the other day, and that worked. Maybe something happens just when going a few volts higher.

okp
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Re: FOC on 12S - FW4.7 & 4.10

Postby okp » 18 Dec 2015, 11:04

thanks benjamin ! I wait for your feedback.

benjamin
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Re: FOC on 12S - FW4.7 & 4.10

Postby benjamin » 19 Dec 2015, 20:38

I have tested FW 2.5 on a 52V power supply with hw 4.10 and on a 12s pack charged to 47V with hw 4.7. Both with a sk3 168kv 6374 motor. Detection and running on that voltage works fine on both hardwares now. I haven't done any proper outdoor testing yet though since it is raining here all the time now.

FW 2.4 has major bug fixes over 2.3, so that could possibly cause your problems okp. The only updates with 2.5 are some PID control fixes and that the red LED now works on hw4.10/11.

okp
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Re: FOC on 12S - FW4.7 & 4.10

Postby okp » 20 Dec 2015, 21:15

awesome !

I am running 12S 5AH on my Trampa E-MTB with dual VESC 168kv; I have setup the motor power to 80A and the startup boost to 0.040 which seems to work fine.
Last edited by okp on 27 Dec 2015, 14:13, edited 1 time in total.

okp
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Re: FOC on 12S - FW4.7 & 4.10

Postby okp » 26 Dec 2015, 21:53

Hey,

Some news - I will keep the nunchuck on the HW4.7 (it's my vanguard cruising deck, so the nunchuck is perfect for that)

Here's a video feedback on FOC with 12S dual VESC/canbus/traction control. FOC still behaves weird.

ON HW 4.7 - FW 2.5 - 12S - RSPEC : Detection is fine/fixed, well done Benjamin.

But brake and acceleration are weird. Brake makes a lot of noise, cruise control on nunchuck makes motors cog even with no rolling. Check the video, it's detailed enough I hope.



ON HW 4.10 - FW 2.5 - 12S - SK 6374 : Detection FAILS



hope it helps making the VESC better !

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Re: FOC on 12S - FW4.7 & 4.10

Postby benjamin » 28 Dec 2015, 03:03

Thanks for the videos, it really helps.

When I saw your FOC screenshot I noticed that the flux linkage (λ) value you used is 0, so I'm surprised that it works at all. Having λ at zero is most likely what causes the scraping noise in some parts of the video. It looks like you got λ when running detection though, so you can just click apply and write again. I have added some checks to the latest version of BLDC Tool that shows an error message if λ is still 0 when you click apply.

* The braking behaviour is normal and is no problem while riding. Maybe I will improve it soon.

* The sound when running CC at zero speed should be fixed in fw2.5, but maybe it was 2.6.

* That the motors aren't synchronized when starting is normal, but getting λ right should help there is well. Starting under load seems to work better for me using foc than when using BLDC for me so far.

I'm not sure what is wrong with your 4.10 boards. The hand assembled one that I have is working fine. It is also strange that they work fine in bldc mode.

okp
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Re: FOC on 12S - HW4.7 & 4.10

Postby okp » 28 Dec 2015, 07:48

thanks Benjamin.

- I got FW2.7 from jacob google drive and will try it on HW4.10, same testing protocol and will report back in the next hours.
- I have your nunchuck HW, jacob told me there's an update about the nunchuck code, should I update it ? what is the procedure ?
- on a dual motor setup with two vescs, I was wondering if it's like BLDC mode for the two detected values, can I use the same on both motors..i.e in FOC mode, can I just run it on one motor and use the same values on the other (of course motors are the same) ?


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