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Partial throttle input smoothing / jerky control

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moose09876
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Last seen: 1 week 3 days ago
VESC Free
Joined: 2022-07-10 13:53
Posts: 14
Partial throttle input smoothing / jerky control

So, I've made an electric zero turn mower with 2 VESC's powering the drive motors. The issue I'm having is due to controlling the sticks with your arms, the massive amount of torque I need in this situation, and the VESC being SO responsive, you can get into a death wobble situation. For instance, if you go in reverse, your body gets pushed forward, as do your arms controlling the sticks, then you pull back as your body moves back and then it bounces you back into the seat and repeats th cycle. I have the forward / reverse throttle curve at -10 / -20 exponential and the ramp time set to 1s / 1.5s which has helped a little. The issue happens at partial throttle, not just around the zero point. I can't find anything that might smooth out the input in this situation. Any more ramp time and it gets very mushy to control. Thoughts? Thanks.

moose09876
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Last seen: 1 week 3 days ago
VESC Free
Joined: 2022-07-10 13:53
Posts: 14

I just found a workaround for this today. My ADC was .9v rev, 1.4v center, 2.4v forward with an erpm limit on reverse of 5000, motor does 13,600. My fix was changing the reverse voltage to .2v so the range of motion I have corresponds to the erpm desired. The .5v range of reverse previously was really only 18% of the travel to the erpm limit, kind of like an on/off switch. Now it's the full .5v range. Full reverse =~5000erpm vs mapping full reverse to 13,600erpm. I guess this makes sense. Who knows. Might help somebody esle.