Trying to close the velocity loop sensorless

applications
3

Thanks for the reply

And you have to copy-paste the calculation of flux_linkage from the MXLEMMINGObserverSensor contructor,

Does this mean I need to copy this to the main code?

The motor is an OEM Technics so I used this code to measure R and L which was different to what was measured with my LCR bridge . KV I measured the BEMF by manually spinning the motor to 33rpm

#include <SimpleFOC.h>

// Stepper motor & BLDC driver instance
BLDCMotor motor = BLDCMotor(11);
// SimpleFOCShield
BLDCDriver3PWM driver = BLDCDriver3PWM(A7, A6, A5, A3);           // STM32

// inline current sensor instance
// ACS712-05B has the resolution of 0.185mV per Amp
LowsideCurrentSense current_sense = LowsideCurrentSense(185.0f, PA1, PA2);


void setup() {

  // use monitoring with serial 
  Serial.begin(115200);
  // enable more verbose output for debugging
  // comment out if not needed
  SimpleFOCDebug::enable(&Serial);

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 20;
  driver.init();
  // link driver
  motor.linkDriver(&driver);
  // link current sense and the driver
  current_sense.linkDriver(&driver);

  // current sense init and linking
  current_sense.init();
  motor.linkCurrentSense(&current_sense);

  // initialise motor
  motor.init();

  // find the motor parameters
  motor.characteriseMotor(3.5f);


  _delay(1000);
}


void loop() {
  // do nothing
  _delay(1000);
}

I’ll try MotionControlType Torque