Keep in mind that doing that shorts the laminations together wherever the metal gets pushed across the lamination edges in each "groove".izeman wrote:i did cut some new grooves into the "new" 0.3 lam MAC as well.
but it did work fine with the KBS-X with original hall position. At least with my MAC it doesizeman wrote:it's like a highly oscillating throttle, or accelerating, braking, accelerating ... this behaviour happens with both kelly controllers
Great work. I never had occasion to try it myself. In theory, this could also be used to map out the proper hall/phase wiring on a typical controller without trial-and-error but I don't know the exact sequence.izeman wrote:@fechter: i did the hall position procedure you proposed. Lab power supply with 3A made the rotor snap to a position where i could be moved by hand.
When i moved the halls by 4mm CCW and observed the hall switching this was 100% spot on. Moving the stator a tiny little bit made then all toggle. So fechter you're 100% correct that moving the halls by 4mm gives neutral timing.
Kp and Ki values are used in the PID to control overshoot and oscillations. If they're too high=oscillations, if they're too low=slow response.
thanks. in theory i understand how PID controllers should work (from flying quadcopters which need a lot of different PID tuning). but i have NO idea how kelly implemented that feature, and it's missing the setting for derivative factor - but maybe this should be the "speed err limit" and is just not called KD . however i hope it can be done.fechter wrote:Those PID parameters in the Kelly programming will definitely fix the oscillation problem if you can figure out what settings to use. There are some articles on PID tuning on the web, but most of them were over my head.
From https://endless-sphere.com/forums/viewt ... 4#p1145464Kp and Ki values are used in the PID to control overshoot and oscillations. If they're too high=oscillations, if they're too low=slow response.
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Torque Speed KP: Speed Percent Kp in Torque Mode. Range: 0~10000 Factory set is 3000 Torque Speed KI: Speed Integral Ki in Torque Mode. Range: 0~500 Factory set is 80 Speed Err Limit: Speed Error Limit in Torque Mode. Range: 50~4000 Factory set is 1000 These three parameters are used for PID adjustment. If you think the acceleration performance is very very strong, please adjust them to a lower value respectively.
the adaptto unit does the same if the hall angle and timings are not set properly, and iirc it also behaves like this if i have higher values of field weakening enabled.izeman wrote: though the motor/controller combination has this strange effect that letting the throttle go from WOT, running at full rpm, the rpm SHOOTS UP for the blink if an eye, HIGHER then full rpm and then starts to settle down. i can't find an explanation for that effect.