Hello all,
I have a 56V odrive V3.6 and I’m sensorless driving a 1250kv 4 pole 4092 boat rocket brushless motor attached to a free spinning flywheel load, powered by a 19v PSU. I am unable to get it to go beyond 31.8 r/s according to vel_estimate, however if I change the pole pair setting while it is running, I can get it to increase the speed dramatically, however vel_estimate gives the same reading. I am trying to accelerate the motor smoothly between 12000 and 18000 rpm, and changing the speed by changing the pole pair setting is not smooth. Not sure what I’m doing wrong, I’ve cleared the settings and followed the sensorless guide a couple of times, tried different things, but no clue what is wrong.
Here is the current configuration:
odrv0.axis0.controller.config
Out[490]:
anticogging:
anticogging_enabled: True (bool)
calib_anticogging: False (bool)
calib_pos_threshold: 1.0 (float)
calib_vel_threshold: 1.0 (float)
cogging_ratio: 1.0 (float)
index: 0 (uint32)
pre_calibrated: False (bool)
axis_to_mirror: 255 (uint8)
circular_setpoint_range: 1.0 (float)
circular_setpoints: False (bool)
control_mode: 2 (uint8)
electrical_power_bandwidth: 20.0 (float)
enable_gain_scheduling: False (bool)
enable_overspeed_error: True (bool)
enable_torque_mode_vel_limit: True (bool)
enable_vel_limit: True (bool)
gain_scheduling_width: 10.0 (float)
homing_speed: 0.25 (float)
inertia: 0.0 (float)
input_filter_bandwidth: 2.0 (float)
input_mode: 1 (uint8)
load_encoder_axis: 0 (uint8)
mechanical_power_bandwidth: 20.0 (float)
mirror_ratio: 1.0 (float)
pos_gain: 20.0 (float)
spinout_electrical_power_threshold: 10.0 (float)
spinout_mechanical_power_threshold: -10.0 (float)
steps_per_circular_range: 1024 (int32)
torque_mirror_ratio: 0.0 (float)
torque_ramp_rate: 0.009999999776482582 (float)
vel_gain: 0.009999999776482582 (float)
vel_integrator_gain: 0.05000000074505806 (float)
vel_integrator_limit: inf (float)
vel_limit: 200.0 (float)
vel_limit_tolerance: 1.2000000476837158 (float)
vel_ramp_rate: 1.0 (float)
odrv0.axis0.config
Out[491]:
calibration_lockin:
accel: 20.0 (float)
current: 10.0 (float)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 40.0 (float)
can:
encoder_rate_ms: 10 (uint32)
heartbeat_rate_ms: 100 (uint32)
is_extended: False (bool)
node_id: 0 (uint32)
dir_gpio_pin: 2 (uint16)
enable_sensorless_mode: True (bool)
enable_step_dir: False (bool)
enable_watchdog: False (bool)
general_lockin:
accel: 20.0 (float)
current: 10.0 (float)
finish_distance: 100.0 (float)
finish_on_distance: False (bool)
finish_on_enc_idx: False (bool)
finish_on_vel: False (bool)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 40.0 (float)
sensorless_ramp:
accel: 200.0 (float)
current: 10.0 (float)
finish_distance: 100.0 (float)
finish_on_distance: False (bool)
finish_on_enc_idx: False (bool)
finish_on_vel: True (bool)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 400.0 (float)
startup_closed_loop_control: False (bool)
startup_encoder_index_search: False (bool)
startup_encoder_offset_calibration: False (bool)
startup_homing: False (bool)
startup_motor_calibration: False (bool)
step_dir_always_on: False (bool)
step_gpio_pin: 1 (uint16)
watchdog_timeout: 0.0 (float)
odrv0.axis0.motor.config
Out[492]:
I_bus_hard_max: inf (float)
I_bus_hard_min: -inf (float)
I_leak_max: 0.10000000149011612 (float)
R_wL_FF_enable: False (bool)
acim_autoflux_attack_gain: 10.0 (float)
acim_autoflux_decay_gain: 1.0 (float)
acim_autoflux_enable: False (bool)
acim_autoflux_min_Id: 10.0 (float)
acim_gain_min_flux: 10.0 (float)
bEMF_FF_enable: False (bool)
calibration_current: 30.0 (float)
current_control_bandwidth: 1000.0 (float)
current_lim: 100.0 (float)
current_lim_margin: 9.0 (float)
dc_calib_tau: 0.20000000298023224 (float)
inverter_temp_limit_lower: 100.0 (float)
inverter_temp_limit_upper: 120.0 (float)
motor_type: 0 (uint8)
phase_inductance: 5.598078587354394e-06 (float)
phase_resistance: 0.020373238250613213 (float)
pole_pairs: 2 (int32)
pre_calibrated: False (bool)
requested_current_range: 90.0 (float)
resistance_calib_max_voltage: 2.0 (float)
torque_constant: 0.006616000086069107 (float)
torque_lim: inf (float)
Let me know if there is any other information I need to add. Thanks!