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嗨,
我尝试在低速应用程序中使用foc lib。 我使用带编码器的STM3210B-MCKIT电机。 有人知道我可以通过这款电机lib 3.2和shinano 400 inc编码器实现哪种最低电机速度? 我使用默认的pid设置,低于300rpm,电机转速控制器开始振荡。 对于低速应用,你有更好的参数吗? 谢谢 以上来自于谷歌翻译 以下为原文 Hi, i try to use the foc lib in a low speed application. Im using the STM3210B-MCKIT Motor with encoder. Do someone know which minimum motor speed i can achieve whith this motor lib 3.2 and the shinano 400 inc encoder? i used the default pid setting and below 300rpm the motors rotation speed controller starts to oscillate . do you have better params for low speed application? thanks |
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嘿,
我也对类似的应用感兴趣。你有没有得到FOC和编码器以低速驱动BLDC?如果是,那么它有多麻烦呢? 谢谢你的帮助 以上来自于谷歌翻译 以下为原文 Hey there, I am also interested in a similar application. Did you ever get the FOC and encoder to drive you BLDC at low speed? And if yes, then how much of a trouble was it? Thanks for your help |
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嗨萨尼,
我在伺服应用中使用该库,其中静止操作与外部扭矩,方向改变,高加速度和减速,发电操作,都是正常情况。我没有发现任何问题,但你必须仔细调整所有控制反馈回路。你需要考虑的是:编码器每转产生400个增量。因为我们也有正交通道,所以这给了800''更新''革命前的'。当转速为600 rpm时,这意味着每秒更新8000次。以奈奎斯特定理为第一近似值,速度反馈的带宽为4kHz。在低速时,比如6转,我们每秒只能获得80次更新。这意味着速度反馈bandwitdh显着降低到40赫兹。因此,必须设计速度控制环路,使其接受这种低带宽,或者通过降低增益,或者通过实现随速度反馈带宽变化的动态增益。 如果这听起来很戏剧性的话,可以考虑对于大厅反馈更糟糕的情况,你每次只能获得6次更新,而不是400次。如果需要“僵硬”的速度控制,您可以考虑用“更精细”的版本替换编码器,例如,每转4000步。但请记住高转速时非常高的脉冲频率...... 问候 坦率 以上来自于谷歌翻译 以下为原文 Hi Sani, I use the library in a servo application, where operation at standstill with external torque, change of direction, high acceleration and decelaration, generatoric operation, are all normal cases. I have not observed any problem at all, but you have to carefully tune all control feedback loops. What you have to consider is the following: the encoder generates, lets say, 400 increments per revolution. Because we also have the quadrature channel, this gives 800 ''updates'' pre revolution. When revolving at 600 rpm, this means 8000 updates per second. Taking the Nyquist theorem as a first approximation, the bandwidth of the speed feedback is then 4kHz. At low speeds, say 6 rpm, we only get 80 updates per second. This means the speed feedback bandwitdh is dramatically reduced to 40 Hertz. Consequently, the speed control loop must be designed such that it accepts this low bandwitdth, either by reducing the gains, or by implementing dynamic gain that varies with speed feedback bandwidth. If this sounds dramatic, consider the much worse situtation for hall feedback, where you only get 6 updates per revolution, instead of 400 in my case. If ''stiff'' speed control is required, you can consider replacing the encoder with a ''finer'' version that has, e.g. 4000 steps per rev. But keep in mind the very high pulse frequency at high rpms... Regards Frank |
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