FOC braking?

Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
whitepony
Posts: 38
Joined: 02 Jan 2016, 19:57
Location: Germany
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FOC braking?

Postby whitepony » 14 Jan 2016, 15:25

heyho!

Im running VESC HW4.10, FOC2.8 firmware, nunchuk direct connection on enertion 6355 r-spec, autodetection works great, I can easily start the board with absolutely amazing zero-noise even with my full bodyload, BUT: while I seem to be able to brake quickly without load (free spinning motor), I cant seem to brake under body load! Whenever I try, it brakes for about 1sec, then releases torque, I can see the VESC blinking 2x 3times and thats it. forward throttles works great though, a revolution to DIY skateboards!!

anyone got the same issues?

Sibica
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Joined: 07 Jan 2016, 12:36
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Re: FOC braking?

Postby Sibica » 14 Jan 2016, 15:33

Maybe you reach voltage or current limit of braking?

benjamin
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Posts: 280
Joined: 15 Dec 2015, 08:38
Location: Sweden
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Re: FOC braking?

Postby benjamin » 15 Jan 2016, 14:05

3 blinks is a fault reported by the drv8302. Which settings did you use and what is the battery voltage?

whitepony
Posts: 38
Joined: 02 Jan 2016, 19:57
Location: Germany
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Re: FOC braking?

Postby whitepony » 15 Jan 2016, 21:09

hey benjamin,

these are the errors. I provoked them my simply turning the motor against full brake nunchuk.


The following faults were registered since start:

Fault : FAULT_CODE_DRV8302
Current : 0.2
Current filtered : -13.5
Voltage : 40.01
Duty : 0.00
RPM : 1000.2
Tacho : 2223
Cycles running : 3732
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.50

Fault : FAULT_CODE_DRV8302
Current : 8.9
Current filtered : -1.3
Voltage : 39.99
Duty : 0.00
RPM : 566.5
Tacho : 2570
Cycles running : 13369
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.53

The following faults were registered since start:

Fault : FAULT_CODE_DRV8302
Current : 0.2
Current filtered : -13.5
Voltage : 40.01
Duty : 0.00
RPM : 1000.2
Tacho : 2223
Cycles running : 3732
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.50

Fault : FAULT_CODE_DRV8302
Current : 8.9
Current filtered : -1.3
Voltage : 39.99
Duty : 0.00
RPM : 566.5
Tacho : 2570
Cycles running : 13369
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.53

Fault : FAULT_CODE_DRV8302
Current : 1.8
Current filtered : -6.9
Voltage : 40.01
Duty : 0.00
RPM : 1650.2
Tacho : 2693
Cycles running : 680
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.78

The following faults were registered since start:

Fault : FAULT_CODE_DRV8302
Current : 0.2
Current filtered : -13.5
Voltage : 40.01
Duty : 0.00
RPM : 1000.2
Tacho : 2223
Cycles running : 3732
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.50

Fault : FAULT_CODE_DRV8302
Current : 8.9
Current filtered : -1.3
Voltage : 39.99
Duty : 0.00
RPM : 566.5
Tacho : 2570
Cycles running : 13369
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.53

Fault : FAULT_CODE_DRV8302
Current : 1.8
Current filtered : -6.9
Voltage : 40.01
Duty : 0.00
RPM : 1650.2
Tacho : 2693
Cycles running : 680
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 23.78

Fault : FAULT_CODE_DRV8302
Current : -5.3
Current filtered : -6.2
Voltage : 40.01
Duty : 0.00
RPM : 1193.9
Tacho : 3031
Cycles running : 103
TIM duty : 0
TIM val samp : 5
TIM current samp : 6718
TIM top : 6720
Comm step : 6
Temperature : 24.53


these are motor and FOC settings:
Image

Image


battery is 10S4P around 40V!

benjamin
Site Admin
Posts: 280
Joined: 15 Dec 2015, 08:38
Location: Sweden
Contact:

Re: FOC braking?

Postby benjamin » 16 Jan 2016, 15:31

This seems to happen to several people, but I haven't been able to reproduce it myself. Maybe it is safe to ignore the drv8302 fault, depending on what it is (the drv8301 would have been better here...). As soon as I'm able to reproduce this I will try to find a fix.

whitepony
Posts: 38
Joined: 02 Jan 2016, 19:57
Location: Germany
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Re: FOC braking?

Postby whitepony » 16 Jan 2016, 15:47

ah, well, hope it helped! its a long time till spring anyway! :lol:

hexakopter
Posts: 86
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Location: Germany
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Re: FOC braking?

Postby hexakopter » 16 Jan 2016, 16:20


benjamin
Site Admin
Posts: 280
Joined: 15 Dec 2015, 08:38
Location: Sweden
Contact:

Re: FOC braking?

Postby benjamin » 16 Jan 2016, 18:40


hexakopter
Posts: 86
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Location: Germany
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Re: FOC braking?

Postby hexakopter » 16 Jan 2016, 20:07


arvidb
Posts: 234
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Location: Sweden, Stockholm
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Re: FOC braking?

Postby arvidb » 16 Jan 2016, 23:09

Hey hexakopter, why don't you start a thread - maybe in the Feature request forum? - and write down your ideas for a better VESC? I for one would be interested!

Maybe we should remember that Benjamin has done a very good job so far, and that he's doing this as a hobby, because it's fun. I say, any input is good input, but in the end, let's not forget that Benjamin decides how he wants to develop his VESC.

I've done some work on the Linux kernel, and the way it works there is: you have an idea that you want implemented? If you want it done, then you need to write a patch, send it in, and be prepared to be questioned, have to rewrite it (for both style and function issues), get new ideas & suggestions, rewrite it again, get it accepted (hopefully), and then keep fixing bugs that others and yourself detects. I guess the parallel here would be for someone to explain his/her suggestions in detail, maybe draw the changes in KiCad/write a patch for the firmware or tool, publicise it, have it scrutinized, fix problems, and then maybe have it picked up by Benjamin.

I don't think we can expect Benjamin to do all the work for all of us. But of course, if you have a suggestion but don't know how to use KiCad or write code, write it down in the forum and hope that someone else picks it up! As you say, sharing is good!


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