Dear All,
This is a forked thread from: Speed limit on B-G431B-ESC1 with 2212 920kv motor
Now that I have things working quite well, I am testing and fine tuning. I am now becoming ever more aware that with my configuration using the MXLEMMINGObserverSensor, there is a slightly high pitched noise that increases with speed. I have played around with my tuning and nothing seems to make it go away. It is not so bad, but noticeable. Any ideas on how to mitigate this welcome.
/**
* B-G431B-ESC1 position motion control example with encoder
*
*/
#include <SimpleFOC.h>
#include <SimpleFOCDrivers.h>
#include <encoders/MXLEMMING_observer/MXLEMMINGObserverSensor.h>
// Motor instance
//BLDCMotor motor = BLDCMotor(7, 0.14, 2450, 0.00003);
//BLDCMotor motor = BLDCMotor(7, 0.15, 940, 0.000125);
BLDCMotor motor = BLDCMotor(7, 0.14, 850, 0.0000425);
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
// Gain calculation shown at https://community.simplefoc.com/t/b-g431b-esc1-current-control/521/21
LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
// encoder instance
MXLEMMINGObserverSensor sensor = MXLEMMINGObserverSensor(motor);
HardwareSerial Serial1(PB6, PB7);
// velocity set point variable
float target = 0;
float targetP = 0;
float targetI = 0;
float targetV = 0;
// instantiate the commander
Commander commandComp = Commander(Serial);
Commander commandESP = Commander(Serial1);
void doTargetP(char* cmd) { commandComp.scalar(&targetP, cmd); }
void doTargetI(char* cmd) { commandComp.scalar(&targetI, cmd); }
void doTargetV(char* cmd) { commandESP.scalar(&targetV, cmd); }
void setup() {
//pinMode(LED_RED, OUTPUT); // Set board LED for debugging
//digitalWrite(LED_RED, HIGH);
// use monitoring with serial
Serial.begin(115200);
Serial1.begin(115200);
// enable more verbose output for debugging
// comment out if not needed
SimpleFOCDebug::enable(&Serial);
// initialize encoder sensor hardware
sensor.init();
// link the motor to the sensor
motor.linkSensor(&sensor);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// link current sense and the driver
currentSense.linkDriver(&driver);
// initialise the current sensing
if(!currentSense.init()){
Serial.println("Current sense init failed.");
return;
}
// no need for aligning
currentSense.skip_align = true;
motor.linkCurrentSense(¤tSense);
motor.sensor_direction= Direction::CW;
motor.zero_electric_angle = 0;
// set motion control loop to be used
motor.controller = MotionControlType::velocity;
motor.torque_controller = TorqueControlType::foc_current;
//motor.torque_controller = TorqueControlType::dc_current;
//motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
motor.current_sp = motor.current_limit;
// velocity PI controller parameters
motor.PID_velocity.P = 0.01;
motor.PID_velocity.I = 0.004;
driver.voltage_limit = 10;
motor.voltage_limit = 5;
//motor.current_limit = 0.5;
motor.PID_velocity.limit = motor.voltage_limit;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor.PID_velocity.output_ramp = 10;
// velocity low pass filtering time constant
//motor.LPF_velocity.Tf = 0.1;
// comment out if not needed
motor.useMonitoring(Serial);
motor.monitor_downsample = 10000;
//motor.motion_downsample = 4;
// initialize motor
motor.init();
// align encoder and start FOC
motor.initFOC();
// add target command T
commandComp.add('P', doTargetP, "target P");
commandComp.add('I', doTargetI, "target I");
commandESP.add('V', doTargetV, "target V");
Serial.println(F("Motor ready."));
Serial.println(F("Set the target velocity using serial terminal:"));
_delay(1000);
}
void loop() {
// main FOC algorithm function
motor.loopFOC();
//motor.PID_velocity.P = targetP;
//motor.PID_velocity.I = targetI;
//Serial.println(target);
// Motion control function
motor.move(targetV);
if (abs(motor.target) < 20.0f && motor.enabled==1)
motor.disable();
if (abs(motor.target) >= 20.0f && motor.enabled==0)
motor.enable();
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
//motor.monitor();
// user communication
commandESP.run();
commandComp.run();
}
