Recent content by naimo

Small update. I played around with the motor angle some more First I limited the battery current to a low value, and looked for the angle that gave me the highest RPM at no load. Unfortunately, when I went to actually ride it, the motor did reach a high speed on flats but seriously lacked...

Ah yes that's what I meant, the code seems to be doing what you're describing, a six-step sine wave (phases are always energized). Still, for me it seems that a "good" angle for foc doesn't start well in this SVM six-step mode.

mmm... I don't see how this is possible in a current limiting mode. Maybe this is possible at a fixed duty cycle ? Anyway, to go back to the determination of the MOTOR_ROTOR_DELTA_PHASE_ANGLE_RIGHT : in your experience, is it possible that the angle giving best efficiency for interpolation+foc...

Since we're current controlled, I think that when the motor runs the most efficient, it also runs the fastest for a given current and "load". Getting the best battery range, at fixed current, also means going the fastest during the time it takes to discharge the battery.

Yeah, once I fixed the current sensing, I could actually see something on the scope when probing on the output. It showed me that I didn't have the wiring correct (current waveform was not a sine wave). After rearranging, I get a pretty sine wave and the motor runs much smoother/more quietly...

Wow you were right, there was a short between the two inputs of the current sensor. This is some fine tuning only chinese manufacturers know how to do ! I cleaned it up, back to stock and I will test again.

Or maybe I should just keep the 10bit adc for the phase current instead of keeping the division by 4 in the code. ui16_ADC_iq_current >> 2

I might have the beginning of an answer. Xnyle you're right that the current should only get offset by 1, but in my case the phase current scale is so squished that the angle correction needed to correct such a small offset is still large, and leads to big changes of behavior of the motor. It...

Looking a bit more at the foc algorithm, serial debugging showed that for my hardware (I have an acs712 current sensor), the phase current offset is closer to 128 than 127. With the initial value, the correction quickly built up and made the control less efficient. Have you guys ever had to...

Ok following up with my previous post https://endless-sphere.com/forums/viewtopic.php?f=30&t=87870&start=3550#p1473693 (tldr electric scooter, direct drive motor, 6" wheel, with a KT36/48 sine controller) With the latest code (stancecoke master), as I already mentioned it runs out of the box...

Hi all, I'm trying to change the controller on an electric scooter (MPman TR100). The motor is a 30 rotor poles /27 stator poles, direct drive, with hall sensors. (I added the 10k pullups on the hall sensors since the signals didn't go to 5V, I don't know if the controller has them). I...