Hoverboard Motor with VESC

Run one without any issues many times, seems to saturate at around 20A, should only need about 2A to run.

Try this, paste it into an xml file.

<?xml version="1.0" encoding="UTF-8"?>
<MCConfiguration>
    <pwm_mode>1</pwm_mode>
    <comm_mode>0</comm_mode>
    <motor_type>2</motor_type>
    <sensor_mode>0</sensor_mode>
    <l_current_max>30</l_current_max>
    <l_current_min>-10</l_current_min>
    <l_in_current_max>2.5</l_in_current_max>
    <l_in_current_min>-5</l_in_current_min>
    <l_abs_current_max>60</l_abs_current_max>
    <l_min_erpm>-100000</l_min_erpm>
    <l_max_erpm>100000</l_max_erpm>
    <l_max_erpm_fbrake>300</l_max_erpm_fbrake>
    <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
    <l_min_vin>6</l_min_vin>
    <l_max_vin>60</l_max_vin>
    <l_battery_cut_start>64</l_battery_cut_start>
    <l_battery_cut_end>8</l_battery_cut_end>
    <l_slow_abs_current>1</l_slow_abs_current>
    <l_rpm_lim_neg_torque>1</l_rpm_lim_neg_torque>
    <l_temp_fet_start>80</l_temp_fet_start>
    <l_temp_fet_end>100</l_temp_fet_end>
    <l_temp_motor_start>80</l_temp_motor_start>
    <l_temp_motor_end>100</l_temp_motor_end>
    <l_min_duty>0.005</l_min_duty>
    <l_max_duty>0.89</l_max_duty>
    <sl_min_erpm>300</sl_min_erpm>
    <sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
    <sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
    <sl_cycle_int_limit>62</sl_cycle_int_limit>
    <sl_cycle_int_limit_high_fac>0.8</sl_cycle_int_limit_high_fac>
    <sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
    <sl_bemf_coupling_k>600</sl_bemf_coupling_k>
    <hall_table_0>-1</hall_table_0>
    <hall_table_1>1</hall_table_1>
    <hall_table_2>3</hall_table_2>
    <hall_table_3>2</hall_table_3>
    <hall_table_4>5</hall_table_4>
    <hall_table_5>6</hall_table_5>
    <hall_table_6>4</hall_table_6>
    <hall_table_7>-1</hall_table_7>
    <hall_sl_erpm>2000</hall_sl_erpm>
    <foc_current_kp>0.2552</foc_current_kp>
    <foc_current_ki>115.6</foc_current_ki>
    <foc_f_sw>40000</foc_f_sw>
    <foc_dt_us>0</foc_dt_us>
    <foc_encoder_inverted>0</foc_encoder_inverted>
    <foc_encoder_offset>0</foc_encoder_offset>
    <foc_encoder_ratio>0</foc_encoder_ratio>
    <foc_sensor_mode>0</foc_sensor_mode>
    <foc_pll_kp>2000</foc_pll_kp>
    <foc_pll_ki>20000</foc_pll_ki>
    <foc_motor_l>0.00025523</foc_motor_l>
    <foc_motor_r>0.1156</foc_motor_r>
    <foc_motor_flux_linkage>0.01959</foc_motor_flux_linkage>
    <foc_observer_gain>3.92e+06</foc_observer_gain>
    <foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
    <foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>
    <foc_openloop_rpm>300</foc_openloop_rpm>
    <foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
    <foc_sl_openloop_time>0.1</foc_sl_openloop_time>
    <foc_sl_d_current_duty>0</foc_sl_d_current_duty>
    <foc_sl_d_current_factor>0</foc_sl_d_current_factor>
    <foc_hall_table_0>255</foc_hall_table_0>
    <foc_hall_table_1>133</foc_hall_table_1>
    <foc_hall_table_2>73</foc_hall_table_2>
    <foc_hall_table_3>107</foc_hall_table_3>
    <foc_hall_table_4>194</foc_hall_table_4>
    <foc_hall_table_5>159</foc_hall_table_5>
    <foc_hall_table_6>34</foc_hall_table_6>
    <foc_hall_table_7>255</foc_hall_table_7>
    <foc_hall_sl_erpm>2000</foc_hall_sl_erpm>
    <s_pid_kp>0.0001</s_pid_kp>
    <s_pid_ki>0.015</s_pid_ki>
    <s_pid_kd>0</s_pid_kd>
    <s_pid_min_rpm>900</s_pid_min_rpm>
    <p_pid_kp>0.03</p_pid_kp>
    <p_pid_ki>0</p_pid_ki>
    <p_pid_kd>0.0004</p_pid_kd>
    <p_pid_ang_div>1</p_pid_ang_div>
    <cc_startup_boost_duty>0.01</cc_startup_boost_duty>
    <cc_min_current>1</cc_min_current>
    <cc_gain>0.0046</cc_gain>
    <cc_ramp_step_max>50</cc_ramp_step_max>
    <m_fault_stop_time_ms>3000</m_fault_stop_time_ms>
    <m_duty_ramp_step>0.02</m_duty_ramp_step>
    <m_duty_ramp_step_rpm_lim>0.0005</m_duty_ramp_step_rpm_lim>
    <m_current_backoff_gain>0.5</m_current_backoff_gain>
    <m_encoder_counts>8192</m_encoder_counts>
    <meta_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Configuration loaded from the motor controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</meta_description>
</MCConfiguration>

Hello,

I tried hoverboard motors mounted to larger wheels and it works.

I misused prototype given by a customer for very different purpose :D Goal was to test feasibility of hoverboard motors for specific application and it worked.

Setup:

8S 5Ah old abused Li-Po

2x VESC 4.12 by maytech

Top speed around 20-25km/h

Set up as FOC with sensors.

Did all the detection stuff (FOC, Hall)

When reaching top speed, motors starts to skip/clog or whatever. I did not had time to investigate.

So yes, Hoverboard motors are definitely possible with VESC with proper tuning. Problem might be voltage, I think when they spin fast, they can produce very high voltage. An inversely, you need very high voltage to spin them fast.

One solution might be so reconnect them in delta instead of WYE. I do believe they are WYE by default. But do not take me seriously, verify this by yourself.

I also tried them to run in simple BLDC mode with sensors, but they sound terrible. At low speed you can clearly hear the commutations.

Also, FOC mode R and L measurements failed a few times. These motors have very high inductance.

Got myself hoverboard just to salvage the motors :)

im having some trouble connecting these vescs to hoverboard motors, 2 motors work fine and im now testing the 8.5inch off road motors, all im getting is random skips and jumps when trying to detect the hall sensors, if i do the foc wizard and get it to run a scan it doesnt detect any hall sensors, any ideas?

Did you find a pinout of the hall sensor wires? I think the red may be ground and black may be positive on my 8.5 off-road hover board motors.

Obvious thing, I know, but I got my hoverboard motors working perfectly the other day on hall. Then I went back to the project and they wouldn't work smoothly, wouldn't re-detect the sensors etc, turned out one of the pins for the sensor was loose in the connector. Worth checking

Hi!can somebody please share his sitting of Vesc and hoverboard motor with me thanks!

.

Hi there,

how do you control speed?



I like to use a FSESC 4.12 controller (Chinese VESC) for the hoverboard motors. Some people talk about using modulation types PWM and PPM with the VESC. Does anyone know what to use PWM or PPM ? I want to control the motor controller by a ESP32 sending PWM modulation signal.

Any hint is appreciated.

Ulrich

Thanks for the info