I am now working on VESC, and I have V6.6 Flipsky,and 190kv motor. I am trying to use one motor to control the steering, so I use a AS5047p encoder to control the angle. It passed all the detection and works good(can read the position accurately when I turn the motor by HAND). But now I face a problem is that when I give the angle which in the bottom of VESC tool, the motor just slip and judder. I searched some relevance information, It told me I should adjust the PID position controller parameters, but until now I dont have any idea about is, so is there anyone knows how to set the PID position controller parameter? THX!
The new case is the motor can obey the given position when in the FOC-Sensorless mode, and it still slips in FOC-Encoder mode, meanwhile, the current goes to MAX, but its not always, sometimes the motor maybe can reach the desire position, but its not stable, and no law.
IanG
I have the same problem as you mentioned. Did you find out how to set the right PID position controller parameters in order to run the motor in FOC-Encoder mode?
thx!
Same problem. Anyone got an idea why?
I had the same problem, I fixed it by completely giving up on the calculated values for current Kp / Ki / observer gain.
It detect 0.07 750 and 184 for me, but the values I use are 0.15, 5 and 1.
Under the pid control, just set all the numbers to zero, then slowly increase kp on current and pid position until you get some response. Look for overshoot and oscillations, and tune from there. It's a slow process. That's the basic idea.
I just updated to VESC Tool 3.0 and Firmware 5.2, re-ran all detection and re-calibrated. It now works much more out of the box with speed and position PID control, and a small hall sensor motor. Well done Ben, and whoever else contributed!