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