Voltage Limit and Supply Voltage

[runger]

@motorturner

From these I’m gathering that for sinusoidal PWM I should not be sending Uq higher than 0.5*Vpower_supply. I’m wondering if that jittering is the saturated sinusoidal PWM. Would this be a likely symptom of saturated PWM?

That’s a question for one of our more knowledgable members… I don’t know enough about this, I’m afraid.

@motorturner

I’ve plotted motor.voltage.q, and it seems to be limited either by motor.voltage_limit, or by driver.voltage_limit, whichever is lower. It’s not clear to me what the difference between these parameters is, can someone explain?

That’s right! driver.voltage_limit forms a "hard limit’ on the driver’s output, while motor.voltage_limit limits the Q axis voltage.

Uq and voltage.q are proportional as long as the currents are low and the motor isn’t turning too quickly, i.e. if you neglect the motor’s dynamics, current is proportional to voltage.