Hello, i have problem with encoder as5047. Vd voltage with rpm goes to negative value.
It start increasing from 0V at 0rpm to -10V at 30k eerpm .
Vd voltage should be 0 at all rpm range ?
Tried SPI and ABI intefrace,and few other motors
motor works very stable, but less torque than observer.
This is not right. The D axis voltage should hover around zero volts. Can you show the rotor position plot for the encoder?
This is encoder 5% duty
this is observer 5% duty
and encoder 95%
also error difference observer and encoder on 95% duty is 25%
I think plot is looking good, only diference is 5 times ratio, that is only on chart, but in vesc code, it uses real angle.
no spi errors