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Tips on tuning PID for a 170mm RW170 hub motor, 15 pole-pairs, low speed, high torque, 0-3000 ERPM

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PaulMakesThings
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Tips on tuning PID for a 170mm RW170 hub motor, 15 pole-pairs, low speed, high torque, 0-3000 ERPM

I'm having a really hard time with PID tuning for this motor. I can't get the speed over 500 ERPM, which is about 0.7mph. I know these won't go fast. They're 10kV so with a supply of 24V works out to about 4.7 mph, I need to get maybe 3 mph. They also jitter a lot at low speed, which I realize with these parameters may be unavoidable. I'm looking for any pointers on getting these to run better under speed control. PID tuning or other settings.

ttps://skysedge.com/robotics/robowheel170/index.html

  • Approximate diameter of rolling surface: 170mm
  • 15 pole pairs, 1.7Ω winding resistance (website says 27, but they are talking about the coils not the magnets)
  • Integrated 3200 PPR quadrature encoder (No index unfortunately)
  • Operating voltage: 7-42V

power source: 24V LiFePo4 battery, up to 50A

I am using a FESC 4.2

My best settings so far are

Kp = 1

Ki = 0.33

Kd = 0.15

I know this is way off the starting point. And might be totally wrong

Here's more details:

Min ERPM 5

Ramp ERPMs per second 6000

Foc:

Current Kp 1.4

Current Ki: 200

Observer gain 5000