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Overcome the deadband torque at low rpm

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shulnak
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Overcome the deadband torque at low rpm

Hi

 

I am asking this question on how to overcome the deadband for a motor. I have a VESC that contols a motor mounted to actuate a scaled autonomous car. I have a planning algorithm that gives steering and velocity as input at every 50 ms. the simulation works perfectly, however, when I try to publish commands to the controller especially low velocity commands say 0.3m/s or 0.4 m/s. The wheels do not turn and the car stalls. I believe at low velocity input, the motor is unable to overcome the initial torque. can anyone please help me with the issue on how to calibrate the VESc to overcome this deadzone?

 

 

Regards

Anshul

 

 

userk_88_vanto
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Joined: 2022-02-18 20:01
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Hi Anshul.
Are you using FOC as control method?
What is the value in the Motor Settings > PID > Minimum ERPM?
Are you able to track a desired angular velocity of 200 ERPM?

Also, check this post https://www.vesc-project.com/node/3569

Best

Gepp