Hi, i’m making a electric longboard, but i am having a problema with velocity control, in my microcontroller i made a ramp function and communicate with uart, the thing is when a ride a little bit the motor slowly loose torque and the stop and the wires keep running current at a point that heats a little bit, the bus current indicate 1,4 amp aprox. and im using a 36v battery with keda 6364 motor with 3.5v 48v odrive.
this are the parameters. i dont have any idea what its going on. if anyone can help me, its for university project.
In [1]: odrv0.axis0
Out[1]:
error = 0x0000 (int)
step_dir_active = False (bool)
current_state = 8 (int)
requested_state = 0 (int)
loop_counter = 3659739 (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)
step_gpio_pin = 1 (int)
dir_gpio_pin = 2 (int)
ramp_up_time = 0.4000000059604645 (float)
ramp_up_distance = 12.566370964050293 (float)
spin_up_current = 10.0 (float)
spin_up_acceleration = 400.0 (float)
spin_up_target_vel = 400.0 (float)
get_temp()
motor:
error = 0x0000 (int)
armed_state = 3 (int)
is_calibrated = True (bool)
current_meas_phB = -7.38580846786499 (float)
current_meas_phC = 4.618022918701172 (float)
DC_calib_phB = -1.476582646369934 (float)
DC_calib_phC = -0.9522831439971924 (float)
phase_current_rev_gain = 0.02500000037252903 (float)
current_control: …
gate_driver: …
timing_log: …
config: …
controller:
error = 0x0000 (int)
pos_setpoint = 256.75 (float)
vel_setpoint = 0.0 (float)
vel_integrator_current = 7.456581115722656 (float)
current_setpoint = 0.0 (float)
vel_ramp_target = 0.0 (float)
vel_ramp_enable = False (bool)
config: …
set_pos_setpoint(pos_setpoint: float, vel_feed_forward: float, current_feed_forward: float)
set_vel_setpoint(vel_setpoint: float, current_feed_forward: float)
set_current_setpoint(current_setpoint: float)
move_to_pos(goal_point: float)
start_anticogging_calibration()
encoder:
error = 0x0000 (int)
is_ready = True (bool)
index_found = False (bool)
shadow_count = 4877527 (int)
count_in_cpr = 3287 (int)
interpolation = 0.0781249850988388 (float)
phase = -2.7801098823547363 (float)
pos_estimate = 4877528.0 (float)
pos_cpr = 3287.002197265625 (float)
hall_state = 7 (int)
vel_estimate = -125.0000228881836 (float)
config: …
sensorless_estimator:
error = 0x0000 (int)
phase = -1.08993661403656 (float)
pll_pos = -1.0888028144836426 (float)
vel_estimate = -0.296542227268219 (float)
config: …
trap_traj:
config: …
In [2]: odrv0.axis0.motor
Out[2]:
error = 0x0000 (int)
armed_state = 3 (int)
is_calibrated = True (bool)
current_meas_phB = -7.631777763366699 (float)
current_meas_phC = 4.865957736968994 (float)
DC_calib_phB = -1.4722278118133545 (float)
DC_calib_phC = -0.9586291909217834 (float)
phase_current_rev_gain = 0.02500000037252903 (float)
current_control:
p_gain = 0.021524053066968918 (float)
i_gain = 36.88251495361328 (float)
v_current_control_integral_d = -0.010028045624494553 (float)
v_current_control_integral_q = 0.3678571581840515 (float)
Ibus = 0.1093713641166687 (float)
final_v_alpha = 0.13858561217784882 (float)
final_v_beta = -0.33985236287117004 (float)
Iq_setpoint = 7.499627590179443 (float)
Iq_measured = 7.510277271270752 (float)
max_allowed_current = 60.75 (float)
overcurrent_trip_level = 67.5 (float)
gate_driver:
drv_fault = 0 (int)
timing_log:
TIMING_LOG_GENERAL = 0 (int)
TIMING_LOG_ADC_CB_I = 2670 (int)
TIMING_LOG_ADC_CB_DC = 12886 (int)
TIMING_LOG_MEAS_R = 7914 (int)
TIMING_LOG_MEAS_L = 7326 (int)
TIMING_LOG_ENC_CALIB = 8230 (int)
TIMING_LOG_IDX_SEARCH = 0 (int)
TIMING_LOG_FOC_VOLTAGE = 8178 (int)
TIMING_LOG_FOC_CURRENT = 7890 (int)
config:
pre_calibrated = False (bool)
pole_pairs = 7 (int)
calibration_current = 15.0 (float)
resistance_calib_max_voltage = 2.0 (float)
phase_inductance = 2.1524052499444224e-05 (float)
phase_resistance = 0.036882515996694565 (float)
direction = 1 (int)
motor_type = 0 (int)
current_lim = 50.0 (float)
requested_current_range = 60.0 (float)
current_control_bandwidth = 1000.0 (float)