#### Mihai_F

##### 100 W

- Joined
- Oct 11, 2021

- Messages
- 163

Well the duty mode was just incrementing/decrementing Vq thru a time constant buffer (no PID).Without knowing exactly how you've implemented the duty mode and sensors observer with duty mode it's very hard to say. One thing of note is that if you're limiting the duty, the current control can no longer be effective, and depending which variables where and how you're using them, the observer might not be getting what's actually going into the motor.

Or you might just need to adapt the resistance and inductance parameters.

The sensored observer at startup just gives 6 angles, one for each middle sector (like 6 step commutation), but now i working on implementing to get real angles from it.

I tried (sensorless after start) torque/current mode Vq thru PID and that works a lot better, no more losing sinc, if i command say 2-3 amps, rotor will speed up, and if apply load to rotor it will slow down until stops, seems ok. But in this mode it does no do regen any more.

Another issue, i'm having trouble switching from sensored after start to sensorless run, but that is because of my poor sesored implementation (6 step) .

Can you explain a bit what does the PLL in sensored observer? i'm a bit confused about this PLL thing, i watched some tutorials on it, i understand its use in freq multiplication, but that is it. Even RPM calculation with PLL baffles me.