hello,
i working on Encoder, velocity controll loop in closed loop. it working absolutly fine between range 0-90 on 12V, aslo there is good torque. but when i operate it on 24v there in no torque after 20velocity . if u touch motor by hand its current increse to 10amp. so any suggestion of your will be my time savier. code is here
#include <SimpleFOC.h>
// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(2);
BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 32);
// encoder instance
Encoder encoder = Encoder(15, 4, 1024 );
// Interrupt routine intialisation
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
// velocity set point variable
float target_velocity = 1.2;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
void setup() {
// initialize encoder sensor hardware
encoder.init();
encoder.enableInterrupts(doA, doB);
// link the motor to the sensor
motor.linkSensor(&encoder);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 20;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// aligning voltage [V]
motor.voltage_sensor_align = 3;
// set motion control loop to be used
motor.controller = MotionControlType::velocity;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 0.015f;
motor.PID_velocity.I = 0.5;
motor.PID_velocity.D = 0;
// default voltage_power_supply
motor.voltage_limit = 15;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor.PID_velocity.output_ramp = 1000;
// velocity low pass filtering time constant
motor.LPF_velocity.Tf = 0.01f;
// 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 velocity”);
Serial.println(F(“Motor ready.”));
Serial.println(F(“Set the target velocity using serial terminal:”));
_delay(1000);
}
void loop()
{
// main FOC algorithm function
// the faster you run this function the better
// Arduino UNO loop ~1kHz
// Bluepill loop ~10kHz
motor.loopFOC();
// Motion control function
// velocity, position or voltage (defined in motor.controller)
// this function can be run at much lower frequency than loopFOC() function
// You can also use motor.move() and set the motor.target in the code
motor.move(target_velocity);
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!
// motor.monitor();
// user communication
command.run();
}
hardware is esp 32 and jyqc_v6.3e1 driver and 2pole bldc mptor