Hello,
I’m trying to control this brushless fan with my ODrive v3.6 (fw: 0.4.12). Previously, I’ve had good luck with other motors but this one keeps giving me problems.
Reading through the forum, I realized that the ODrive is not optimized to drive this motor since it’s a high phase resistance, low current, high speed motor and that probably I have to change the shunts. Before I try to stick my soldering iron anywhere, I want to make sure I have exhausted all possible solutions that are purely software.
Here are the calibration data:
motor:
error = 0x0000 (int)
armed_state = 0 (int)
is_calibrated = True (bool)
current_meas_phB = 0.31261035799980164 (float)
current_meas_phC = 0.02401140332221985 (float)
DC_calib_phB = 0.07030913978815079 (float)
DC_calib_phC = 0.3588608503341675 (float)
phase_current_rev_gain = 0.012500000186264515 (float)
thermal_current_lim = 91.98960876464844 (float)
get_inverter_temp()
current_control:
p_gain = 0.014318176545202732 (float)
i_gain = 151.45947265625 (float)
v_current_control_integral_d = 0.0 (float)
v_current_control_integral_q = 0.0 (float)
Ibus = 0.0 (float)
final_v_alpha = 0.0 (float)
final_v_beta = 0.0 (float)
Iq_setpoint = 0.0 (float)
Iq_measured = 0.0 (float)
Id_measured = 0.0 (float)
I_measured_report_filter_k = 1.0 (float)
max_allowed_current = 30.375 (float)
overcurrent_trip_level = 33.75 (float)
gate_driver:
drv_fault = 0 (int)
timing_log:
TIMING_LOG_GENERAL = 0 (int)
TIMING_LOG_ADC_CB_I = 2458 (int)
TIMING_LOG_ADC_CB_DC = 13006 (int)
TIMING_LOG_MEAS_R = 0 (int)
TIMING_LOG_MEAS_L = 0 (int)
TIMING_LOG_ENC_CALIB = 0 (int)
TIMING_LOG_IDX_SEARCH = 0 (int)
TIMING_LOG_FOC_VOLTAGE = 0 (int)
TIMING_LOG_FOC_CURRENT = 0 (int)
config:
pre_calibrated = True (bool)
pole_pairs = 2 (int)
calibration_current = 2.0 (float)
resistance_calib_max_voltage = 4.0 (float)
phase_inductance = 0.00014318176545202732 (float)
phase_resistance = 1.5145947933197021 (float)
direction = 1 (int)
motor_type = 0 (int)
current_lim = 20.0 (float)
current_lim_tolerance = 5.0 (float)
inverter_temp_limit_lower = 100.0 (float)
inverter_temp_limit_upper = 120.0 (float)
requested_current_range = 25.0 (float)
current_control_bandwidth = 100.0 (float)
encoder:
error = 0x0000 (int)
is_ready = True (bool)
index_found = False (bool)
shadow_count = -2 (int)
count_in_cpr = 10 (int)
interpolation = 0.5 (float)
phase = 0.36997127532958984 (float)
pos_estimate = -1.9750031232833862 (float)
pos_cpr = 10.024981498718262 (float)
hall_state = 4 (int)
vel_estimate = 0.0 (float)
calib_scan_response = 0.0 (float)
config:
mode = 1 (int)
use_index = False (bool)
find_idx_on_lockin_only = False (bool)
pre_calibrated = True (bool)
zero_count_on_find_idx = True (bool)
cpr = 12 (int)
offset = 33 (int)
offset_float = 1.1467031240463257 (float)
enable_phase_interpolation = True (bool)
bandwidth = 100.0 (float)
calib_range = 0.05000000074505806 (float)
calib_scan_distance = 50.26548385620117 (float)
calib_scan_omega = 12.566370964050293 (float)
idx_search_unidirectional = False (bool)
ignore_illegal_hall_state = False (bool)
set_linear_count(count: int)
controller:
error = 0x0000 (int)
is_ready = True (bool)
index_found = False (bool)
shadow_count = -2 (int)
count_in_cpr = 10 (int)
interpolation = 0.5 (float)
phase = 0.36997127532958984 (float)
pos_estimate = -1.9750031232833862 (float)
pos_cpr = 10.024981498718262 (float)
hall_state = 4 (int)
vel_estimate = 0.0 (float)
calib_scan_response = 0.0 (float)
config:
mode = 1 (int)
use_index = False (bool)
find_idx_on_lockin_only = False (bool)
pre_calibrated = True (bool)
zero_count_on_find_idx = True (bool)
cpr = 12 (int)
offset = 33 (int)
offset_float = 1.1467031240463257 (float)
enable_phase_interpolation = True (bool)
bandwidth = 100.0 (float)
calib_range = 0.05000000074505806 (float)
calib_scan_distance = 50.26548385620117 (float)
calib_scan_omega = 12.566370964050293 (float)
idx_search_unidirectional = False (bool)
ignore_illegal_hall_state = False (bool)
set_linear_count(count: int)
config:
startup_motor_calibration = False (bool)
startup_encoder_index_search = False (bool)
startup_encoder_offset_calibration = False (bool)
startup_closed_loop_control = False (bool)
startup_sensorless_control = False (bool)
enable_step_dir = False (bool)
counts_per_step = 2.0 (float)
watchdog_timeout = 0.0 (float)
step_gpio_pin = 1 (int)
dir_gpio_pin = 2 (int)
calibration_lockin:
current = 10.0 (float)
ramp_time = 0.4000000059604645 (float)
ramp_distance = 3.1415927410125732 (float)
accel = 20.0 (float)
vel = 40.0 (float)
sensorless_ramp:
current = 10.0 (float)
ramp_time = 0.4000000059604645 (float)
ramp_distance = 3.1415927410125732 (float)
accel = 200.0 (float)
vel = 400.0 (float)
finish_distance = 100.0 (float)
finish_on_vel = True (bool)
finish_on_distance = False (bool)
finish_on_enc_idx = False (bool)
general_lockin:
current = 10.0 (float)
ramp_time = 0.4000000059604645 (float)
ramp_distance = 3.1415927410125732 (float)
accel = 20.0 (float)
vel = 40.0 (float)
finish_distance = 100.0 (float)
finish_on_vel = False (bool)
finish_on_distance = False (bool)
finish_on_enc_idx = False (bool)
Things I’ve tried/noticed:
- I’ve tried sensored, sensorless and gimbal without any noticeable difference (maybe sensored was the worst).
- When the vel_setpoint is 0, the rotor oscillates probably between two poles. Only by changing the mode to idle I can eliminate the oscillation.
- The max speed is way below what I can get with a cheap drone ESC (cant get pass 4000) although I’ve seen it surpass it from time to time when the controller is not properly tuned. I’ve tried changing the current limit and velocity limit too.
- Even at low speed operations at no load, the motor heats up fast and even starts to stinks.
Please let me know what should I try next. Any help will be greatly appreciated!
