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TRQ_MODE
overshooting.
#455
Comments
Hi, It's hard to follow you. This is how torque mode works without load. Changing the mode is already covered with a different protocol if you read the wiki. |
Thanks a lot, yes I found it. I found through issues that the torque mode is not linear and not very adjustable, so can I control the input of the torque mode through PID? Calculate the speed difference of the controlled variable, then I can control the speed in the torque mode, so as to better adjust the torque? (Not FOC speed mode) I will try that later. |
This project is unfinished but you might be able to use the protocol piece. For the non linearity, I think it's more a scale problem, it's mentioned on those issues. |
Ok,thanks! |
This happens from time to time. |
Are the phases/halls correct ? |
Yes, correct. In the above situation, the motor gets stuck when it rotates reversely, and it needs a little external force to help it rotate normally. Once it rotates, everything is normal. |
Variant
USART
Control type
FOC
Control mode
None
Description
Hello, I have been trying to implement control mode switching through serial messages using SERIAL_START_FRAME. I observed that when in USART+FOC_CTRL+SPD_MODE/VLT_MODE, everything works fine, and the mode switch is successful. However, when attempting USART+FOC_CTRL+SPD_MODE/TRQ_MODE, after switching to TRQ_MODE, there are no errors, but when I slightly change command_in->steer or command_in->speed, the motor speed increases directly to the maximum.When I use the
TRQ_MODE
mode alone, the same issue occurs when combined with serial communication. I have tried reading through the code but haven't identified the issue. I would greatly appreciate your help if you could assist me in resolving this problem.The text was updated successfully, but these errors were encountered: