Hi all!
I have been running my electric bicycle (48V 1000W direct drive hub motor) with Vesc 4.12 in BLDC hall sensor mode flawlessly. Recently one hall sensor broke so I thought about using sensorless FOC mode. The automatic decection works and the motor spins great without load, but under load it starts to oscillate so that my wheel and the bike starts shaking.
Do you have any tips on what to adjust in the settings, or which graph to plot to give some clues?
The detected parameters (and max-min I've got during autodetection) are:
R: 154.50 mΩ (124 - 288)
L: 225.75 µH (189 - 439)
λ: 34.613 mWb (34 - 36)
T: 10000.0 µS
KP: 0.0226
KI: 15.45
Observer Gain (x1M): 0.83
I've tried moving the parameters up and down, and tried the four settings of Current Controller Decoupling and the two settings of Observer Type. I've turned off Openloop time to force me to do a rolling start (this works as it should).
You can try HFI (High Frequency Injection) as sensor mode, but that might need tuning. The only other option is to fix the senors.
post your configuration file, someone may spot an error