Thanks for trying ODrive, hopefully it will meet all your expectations ;D
The auto-tuning you are working on, is it:
- Embedded - Online?
- Embedded - Offline?
- Off-board - Offline?
We have a plan for an off-board, offline auto-tuning workflow that will use excitation pulses and captured data sent up over USB to a computer during commissioning. We plan to use SciPy and Jupyter to implement a workflow consisting of model parameter identification, followed by offline simulation-based parameter optimization: similar to Simulink Design Optimization Toolbox.
Thank you so much for your intention to contribute back, it is very warmly welcome!
Regarding your questions, @Wetmelon answered most of them, so I’ll only chime in where I have something to add.
So the gate drive voltage (GVDD) is 11V, so anything under 12V will make the MOSFET switching less efficient. That said, the degradation in performance (in the form of hotter mosfets) is fairly minor, and you should be okay if you can keep the voltage above 9V at load (the gate drive voltage, GVDD, Under Voltage Lock Out, UVLO, is at 8V).
Sorry, I didn’t flash the firmware before shipping, mostly because the firmware updates come so fast you should probably flash it often to use new features, hence you need to know how to flash anyway .
The current rating is a bit hypothetical at the moment. With the default config it is limited to 75A. If you change this config to 20VpV you may set the current limit up to 150A. Just be careful, the temperature sensors are not yet operational (hardware is there, needs firmware), and we haven’t stress tested the drive with a thermal camera yet. I bought a thermal camera recently, and I will do some validation. You should expect around 40A-50A or so continous, and about 3x with low duty cycle, but again this is not verified.
The next version (v3.4) will be available in with a 48V version, and slightly higher current, so that should more than double the power capability. Of course you will need lower kv motors, or more reduction, as the power comes with increased voltage (aka speed), not current (aka torque).