Motor control

Thanks for your reply.

1. Did you run the regular detection process?

The content of the xml file attached above is not a regular detection process.

The process of creating this file is as follows.

- I downloaded the configuration for the TRAXXAS Velineon 3500 Bruhless Motor made by the University of Pennsylvania.

(https://github.com/f1tenth/vesc-firmware/blob/master/VESC-Configuration/...)

- In the Motor Settings - FOC category of the VESC Tool, the parameters for the motor were obtained using 'Detect and Calculate Parameters'.

- Double the Oberser Gain, reduce the Openloop Hysteresis and Openloop Time, and cut the PID gains in half.

2. What motor type and size was chosen?

X-TEAM XTI-2435 Inrunner Brushless Motor for 1/16th R/C car

(https://www.x-teamrc.com/product/x-team-xti-2435-inrunner-brushless-moto...)

Motor size: Diameter 28mm / Length 45mm

Stator diameter: Φ26.5mm

3. Dis you use the Motor Wizard or did you use the manual detection?

Initially, I set it up using the Motor Wizard and the step-by-step Manual on this site.

(https://vesc-project.com/node/938)

Then I tested it and this problem occurred.

The frequency of this problem was lower when the configuration was modified as in the answer to the first question than when using the Motor Wizard.

When using the Motor Wizard, it is as follows. (The file has been modified to have a low PID gain, but this problem is occurring in all settings.)

<MCConfiguration>

<pwm_mode>1</pwm_mode>

<comm_mode>0</comm_mode>

<motor_type>2</motor_type>

<sensor_mode>0</sensor_mode>

<l_current_max>42.31</l_current_max>

<l_current_min>-42.31</l_current_min>

<l_in_current_max>99</l_in_current_max>

<l_in_current_min>-60</l_in_current_min>

<l_abs_current_max>150</l_abs_current_max>

<l_min_erpm>-100000</l_min_erpm>

<l_max_erpm>100000</l_max_erpm>

<l_erpm_start>0.8</l_erpm_start>

<l_max_erpm_fbrake>300</l_max_erpm_fbrake>

<l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>

<l_min_vin>8</l_min_vin>

<l_max_vin>57</l_max_vin>

<l_battery_cut_start>10.2</l_battery_cut_start>

<l_battery_cut_end>9</l_battery_cut_end>

<l_slow_abs_current>1</l_slow_abs_current>

<l_temp_fet_start>85</l_temp_fet_start>

<l_temp_fet_end>100</l_temp_fet_end>

<l_temp_motor_start>85</l_temp_motor_start>

<l_temp_motor_end>100</l_temp_motor_end>

<l_temp_accel_dec>0.15</l_temp_accel_dec>

<l_min_duty>0.005</l_min_duty>

<l_max_duty>0.95</l_max_duty>

<l_watt_max>1.5e+06</l_watt_max>

<l_watt_min>-1.5e+06</l_watt_min>

<l_current_max_scale>1</l_current_max_scale>

<l_current_min_scale>1</l_current_min_scale>

<l_duty_start>1</l_duty_start>

<sl_min_erpm>150</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_phase_advance_at_br>0.8</sl_phase_advance_at_br>

<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>0.0027</foc_current_kp>

<foc_current_ki>30.73</foc_current_ki>

<foc_f_sw>25000</foc_f_sw>

<foc_dt_us>0.12</foc_dt_us>

<foc_encoder_inverted>0</foc_encoder_inverted>

<foc_encoder_offset>180</foc_encoder_offset>

<foc_encoder_ratio>7</foc_encoder_ratio>

<foc_encoder_sin_gain>1</foc_encoder_sin_gain>

<foc_encoder_cos_gain>1</foc_encoder_cos_gain>

<foc_encoder_sin_offset>1.65</foc_encoder_sin_offset>

<foc_encoder_cos_offset>1.65</foc_encoder_cos_offset>

<foc_encoder_sincos_filter_constant>0.5</foc_encoder_sincos_filter_constant>

<foc_sensor_mode>0</foc_sensor_mode>

<foc_pll_kp>2000</foc_pll_kp>

<foc_pll_ki>30000</foc_pll_ki>

<foc_motor_l>2.71e-06</foc_motor_l>

<foc_motor_ld_lq_diff>0</foc_motor_ld_lq_diff>

<foc_motor_r>0.0307</foc_motor_r>

<foc_motor_flux_linkage>0.000707</foc_motor_flux_linkage>

<foc_observer_gain>2.00283e+09</foc_observer_gain>

<foc_observer_gain_slow>0.05</foc_observer_gain_slow>

<foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>

<foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>

<foc_openloop_rpm>1400</foc_openloop_rpm>

<foc_openloop_rpm_low>0</foc_openloop_rpm_low>

<foc_d_gain_scale_start>0.9</foc_d_gain_scale_start>

<foc_d_gain_scale_max_mod>0.2</foc_d_gain_scale_max_mod>

<foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>

<foc_sl_openloop_time_lock>0</foc_sl_openloop_time_lock>

<foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>

<foc_sl_openloop_time>0.05</foc_sl_openloop_time>

<foc_hall_table__0>255</foc_hall_table__0>

<foc_hall_table__1>255</foc_hall_table__1>

<foc_hall_table__2>255</foc_hall_table__2>

<foc_hall_table__3>255</foc_hall_table__3>

<foc_hall_table__4>255</foc_hall_table__4>

<foc_hall_table__5>255</foc_hall_table__5>

<foc_hall_table__6>255</foc_hall_table__6>

<foc_hall_table__7>255</foc_hall_table__7>

<foc_hall_interp_erpm>500</foc_hall_interp_erpm>

<foc_sl_erpm>4000</foc_sl_erpm>

<foc_sample_v0_v7>0</foc_sample_v0_v7>

<foc_sample_high_current>0</foc_sample_high_current>

<foc_sat_comp>0</foc_sat_comp>

<foc_temp_comp>0</foc_temp_comp>

<foc_temp_comp_base_temp>25</foc_temp_comp_base_temp>

<foc_current_filter_const>0.1</foc_current_filter_const>

<foc_cc_decoupling>2</foc_cc_decoupling>

<foc_observer_type>0</foc_observer_type>

<foc_hfi_voltage_start>20</foc_hfi_voltage_start>

<foc_hfi_voltage_run>4</foc_hfi_voltage_run>

<foc_hfi_voltage_max>10</foc_hfi_voltage_max>

<foc_sl_erpm_hfi>2000</foc_sl_erpm_hfi>

<foc_hfi_start_samples>65</foc_hfi_start_samples>

<foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>

<foc_hfi_samples>1</foc_hfi_samples>

<gpd_buffer_notify_left>200</gpd_buffer_notify_left>

<gpd_buffer_interpol>0</gpd_buffer_interpol>

<gpd_current_filter_const>0.1</gpd_current_filter_const>

<gpd_current_kp>0.03</gpd_current_kp>

<gpd_current_ki>50</gpd_current_ki>

<s_pid_kp>0.0001</s_pid_kp>

<s_pid_ki>0.0001</s_pid_ki>

<s_pid_kd>0</s_pid_kd>

<s_pid_kd_filter>0.2</s_pid_kd_filter>

<s_pid_min_erpm>900</s_pid_min_erpm>

<s_pid_allow_braking>1</s_pid_allow_braking>

<s_pid_ramp_erpms_s>-1</s_pid_ramp_erpms_s>

<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_kd_filter>0.2</p_pid_kd_filter>

<p_pid_ang_div>1</p_pid_ang_div>

<cc_startup_boost_duty>0.01</cc_startup_boost_duty>

<cc_min_current>0.05</cc_min_current>

<cc_gain>0.0046</cc_gain>

<cc_ramp_step_max>0.04</cc_ramp_step_max>

<m_fault_stop_time_ms>500</m_fault_stop_time_ms>

<m_duty_ramp_step>0.02</m_duty_ramp_step>

<m_current_backoff_gain>0.5</m_current_backoff_gain>

<m_encoder_counts>8192</m_encoder_counts>

<m_sensor_port_mode>0</m_sensor_port_mode>

<m_invert_direction>0</m_invert_direction>

<m_drv8301_oc_mode>0</m_drv8301_oc_mode>

<m_drv8301_oc_adj>16</m_drv8301_oc_adj>

<m_bldc_f_sw_min>3000</m_bldc_f_sw_min>

<m_bldc_f_sw_max>35000</m_bldc_f_sw_max>

<m_dc_f_sw>25000</m_dc_f_sw>

<m_ntc_motor_beta>3380</m_ntc_motor_beta>

<m_out_aux_mode>0</m_out_aux_mode>

<m_motor_temp_sens_type>0</m_motor_temp_sens_type>

<m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>

<m_hall_extra_samples>1</m_hall_extra_samples>

<si_motor_poles>4</si_motor_poles>

<si_gear_ratio>1</si_gear_ratio>

<si_wheel_diameter>0.083</si_wheel_diameter>

<si_battery_type>0</si_battery_type>

<si_battery_cells>3</si_battery_cells>

<si_battery_ah>6</si_battery_ah>

<motor_brand>Unnamed</motor_brand>

<motor_model>Not Specified</motor_model>

<motor_weight>0</motor_weight>

<motor_poles>14</motor_poles>

<motor_sensor_type>0</motor_sensor_type>

<motor_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A motor description can be edited here.</p></body></html></motor_description>

<motor_loss_torque>0.03</motor_loss_torque>

<motor_quality_bearings>0</motor_quality_bearings>

<motor_quality_magnets>0</motor_quality_magnets>

<motor_quality_construction>0</motor_quality_construction>

<motor_quality_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Some comments about the motor quality. Images can be added as well.</p></body></html></motor_quality_description>

<bms.type>1</bms.type>

<bms.t_limit_start>45</bms.t_limit_start>

<bms.t_limit_end>65</bms.t_limit_end>

<bms.soc_limit_start>0.05</bms.soc_limit_start>

<bms.soc_limit_end>0</bms.soc_limit_end>

</MCConfiguration>

I made a video that reproduces this issue to help you understand. Please refer to this link.

https://youtu.be/Sm5ssPaD1mY

(As shown in the figure below, the gears on the motor shaft have been removed for safety, so the wheel does not work.)

I tried the updated VESC-Tool and FW, and this problem seems to be gone. thank you!

I also tried the newly added servo_out function and it works.

Could it be that the issue I was experiencing was already reported?

Is this the problem shown in the picture below?

I'm just wondering if this is an already reported issue and has been resolved, or is it just that it hasn't been reproduced to me yet.