Motor Vibrates on achieving Angle position

developement
,
1

Hi, i am using 42BLFX01E BLDC motor. 48v. I am using 24v supply. When i run position control it goes to angle and then it start moves forward and reverse slowly. Most of the time it does. What could be the issue. Motor has 8 poles. I tested hall Sensor example. It’ ok. Reduced motor.P_angle.P = 20; to 10 or 5. But it didn’t work.

1 Like
3

Paste this in loop()

  // Don't try to stop between cogging steps
  if (motor.controller == MotionControlType::angle) {
    const float c = _PI_3/motor.pole_pairs;
    target = floor(target / c + 0.5f) * c;
  }
2

Hey @MianSannan could you post your code? I probably can’t solve your problem, but it might help someone else.

4 

#include <SimpleFOC.h>
#include <PciManager.h>
#include <PciListenerImp.h>

BLDCMotor motor = BLDCMotor(8);
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);


// hall sensor instance
HallSensor sensor = HallSensor(2, 3, 4, 8);

// Interrupt routine intialisation
// channel A and B callbacks
void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doC(){sensor.handleC();}
// If no available hadware interrupt pins use the software interrupt
PciListenerImp listenC(sensor.pinC, doC);

// angle set point variable
float target_angle = 0;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }

void setup() {

  // initialize sensor hardware
  sensor.init();
  sensor.enableInterrupts(doA, doB); //, doC);
  // software interrupts
  PciManager.registerListener(&listenC);
  // link the motor to the sensor
  motor.linkSensor(&sensor);

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 24;
  driver.init();
  // link the motor and the driver
  motor.linkDriver(&driver);


  // aligning voltage [V]
  motor.voltage_sensor_align = 3;
  // index search velocity [rad/s]
  motor.velocity_index_search = 3;

  // set motion control loop to be used
  motor.controller = MotionControlType::angle;

  // contoller configuration
  // default parameters in defaults.h

  // velocity PI controller parameters
  motor.PID_velocity.P = 0.1f;
  motor.PID_velocity.I = 0.2;
  motor.PID_velocity.D = 0;
  // default voltage_power_supply
  motor.voltage_limit = 12;

  motor.PID_velocity.output_ramp = 1000;

  // velocity low pass filtering time constant
  motor.LPF_velocity.Tf = 0.001f;

  // angle P controller
  motor.P_angle.P = 20;
  //  maximal velocity of the position control
  motor.velocity_limit = 4;


  // use monitoring with serial
  Serial.begin(115200);
  // comment out if not needed
  motor.useMonitoring(Serial);

  // initialize motor
  motor.init();
  // align sensor and start FOC
  motor.initFOC();

  // add target command T
  command.add('T', doTarget, "target angle");

  Serial.println(F("Motor ready."));
  Serial.println(F("Set the target angle using serial terminal:"));
  _delay(1000);
}

void loop() {

  motor.loopFOC();

  motor.move(target_angle);


  // user communication
  command.run();
}