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嗨，
我正在尝试将无传感器FOC工作在14极表面安装的outrunner电机上。它的Rs为0.35欧姆，Ls为1.0 mH。 我安装了Motor Library v3.0并应用了IFN003V1补丁。我设置了UM1478中列出的所有电路板设置。然后我编译了库和用户应用程序代码并加载了ST-LINK。电路板连接正常，设置与工作台匹配。 当我尝试启用过电流检测启动电机时，它总是立即返回过电流错误。当我禁用过流时，无传感器的启动工作正常，但在启动结束时，我立即得到“启动失败”。 有关尝试什么的任何建议？似乎当前反馈中的某些内容是错误的。 谢谢 以上来自于谷歌翻译 以下为原文 Hi, I am trying to get sensorless FOC working on a 14 pole surface mounted outrunner motor. It has a Rs of 0.35 Ohm and Ls of 1.0 mH. I installed Motor Library v3.0 and applied the IFN003V1 patch. I set all of the board settings listed in UM1478. I then compiled the library and user application code and loaded with ST-LINK. The board connects fine and the settings match the workbench. When I try to start the motor with overcurrent sensing enabled, it always returns an overcurrent error immediately. When I disable overcurrent the sensorless revup works, but at the end of the revup I instantly get a ''startup failure''. Any suggestions on what to try? It seems that something in the current feedback is erroneous. Thanks 
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再见
很难说问题出在哪里！ 作为第一步，我建议您使用电流探头捕获电机相电流并在此处发布。尝试捕捉相位和获得电流最大值的点，但保持时间足够宽以查看电流波形（例如每格50ms）。 再见 梁咏琪 以上来自于谷歌翻译 以下为原文 Ciao Hard to say where is the problem!| As first step I suggest you to make some capture of the motor phase currents, using a current probe and post here. Try to catch the phase and the point in which you get the maximum value of the current, but keep the time base sufficiently wide to take a look at the waveform of the current (for example 50ms per division). Ciao Gigi |
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嗨吉吉，
示波器捕获的电流分流运算放大器输出是否正常？ 这似乎是电机反馈中的一个问题。如果我启用开环FOC，电机会平稳旋转。我注意到电机控制工作台产生的增益看起来很奇怪，其中很多都是负面的。我还得到一个编译器警告，指出由于整数转换导致FINAL_I_ALIGNMENT符号发生变化。 负增益的例子： / *状态观察者常数* / #define GAIN1 -6077 #define GAIN2 22423 我还有一个问题，我们应该在哪里获得图书馆的官方版本3.0。奇怪的是产品支持页面只有补丁而不是库。我能找到的唯一版本从这里称为“网络发布”： http://www.element14.com/community/solutions/6846/l/stmicroelectronics-stm32-pmsm-foc-sdk-v30-motor-control-firmware-library 谢谢 以上来自于谷歌翻译 以下为原文 Hi Gigi, Would an oscilloscope capture of the current shunt op amp outputs be ok? It definitely seems to be a problem in the feedback from the motor. If I enable open loop FOC the motor spins smoothly. I do notice that the gains generated by motor control workbench seem odd, many of them are negative. I also get a compiler warning about a change in sign of FINAL_I_ALIGNMENT due to integer conversion. example of negative gain: /* State observer constants */ #define GAIN1 -6077 #define GAIN2 22423 I also have a question about where we are supposed to get the official v3.0 of the library. It is odd that the product support page has only the patch but not the library too. The only version I could find was called a ''web distribution'' from here: http://www.element14.com/community/solutions/6846/l/stmicroelectronics-stm32-pmsm-foc-sdk-v30-motor-control-firmware-library Thanks |
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Ciao Joevn
出于安全原因，我建议您不要从非ST站点下载FOC库。 确实是MC lib。支持STEVAL-IFN003V1中的L6230逆变桥，即使在v3.2及更高版本中也是如此，但工作台不支持此功能（下一版本将支持此功能）。 请看一下这篇文章 [DEAD LINK /public/STe2ecommunities/mcu/Lists/motor_control/Flat.aspx?RootFolder=/public/STe2ecommunities/mcu/Lists/motor_control/L6234%20%2b%20STM32F4%20%2b%20MC%20%2b%20STM32 ％20PMSM％20FOC％20LIB％203.2＆安培; FolderCTID = 0x01200200770978C69A1141439FE559EB459D7580005A810128153A7244A21980BD49736843]以下 在v3.2或更高版本中手动启用此功能。 特别是我在那里的第一个答案：“11/12/2012 5:36 PM” 补丁只是增加了这种支持以及按钮和电位计的功能，如果您使用ST MC Workbenh实时通信功能，则不需要此功能。 唯一真正缺失的想法可能是DAC功能，因为在STEVAL-IFN003V1中 它被映射到另一个Timer。但是您可以查看补丁中提供的DACRCTIMER_UserInterfaceClass.c文件，了解如何修改代码以重新映射DAC功能。 关于其余问题 ＆GT;示波器捕获的电流分流运算放大器输出是否正常？ 最好使用电流探测器监测其中一个电机相（例如A相）。 ＆GT;我注意到电机控制工作台产生的增益看起来很奇怪，其中很多都是负面的。 负值是错误的并不是自动的。 FW lib。使用大量有符号值。 ＆GT;我还得到一个编译器警告，指出由于整数转换导致FINAL_I_ALIGNMENT符号发生变化。 相反，这种警告需要注意。但在这种情况下，我认为这不是问题。也许它是由“驱动器管理 - 启动参数”中的“最终电流斜坡值”产生的，它高于“电机 - 电气参数”中的“标称电流”。但由于“驱动器管理 - 启动参数”中的“加速前包括对齐”被禁用，因此不会使用生成的值（错误）。我建议你，为了避免编译期间的警告，启用''加速前包括对齐''，只需设置允许的''最终电流斜坡值'，然后再将其禁用。 ＆GT;这似乎是电机反馈中的一个问题。 我建议仔细检查电流测量输入“控制级 - 模拟输入”的设置 - “相位U，V，W的ADC通道选择”，如果DAC功能有效，请查看当开环FOC启用且电机正在运行时，Ia和Ib（它可能是测量的）执行此操作。 再见 梁咏琪 以上来自于谷歌翻译 以下为原文 Ciao Joevn Due to safety reason I suggest you don't download the FOC library from a non-ST site. Indeed the MC lib. support the L6230 inverter bridge, present in the STEVAL-IFN003V1, even in the v3.2 and later but this feature is not supported by the workbench (it will be supported in next releases). Please take a look at this post [DEAD LINK /public/STe2ecommunities/mcu/Lists/motor_control/Flat.aspx?RootFolder=/public/STe2ecommunities/mcu/Lists/motor_control/L6234%20%2b%20STM32F4%20%2b%20MC%20%2b%20STM32%20PMSM%20FOC%20LIB%203.2&FolderCTID=0x01200200770978C69A1141439FE559EB459D7580005A810128153A7244A21980BD49736843]Here to enable this feature manually in v3.2 or above. And in particular to my first answer there: “11/12/2012 5:36 PM” The patch just add this support and the functionality of the push button and potentiometer that is not necessary if you use the ST MC Workbenh real time communication feature. The only think that is really missing can be the DAC function because in the STEVAL-IFN003V1 it is mapped to another Timer. But you can take a look at the DACRCTIMER_UserInterfaceClass.c file present in the patch to now how to modify the code to remap the DAC functionality. Regarding the remaining questions > Would an oscilloscope capture of the current shunt op amp outputs be ok? It will be better to use a current probre monitoring one of the motor phases (for instance the phase A). > I do notice that the gains generated by motor control workbench seem odd, many of them are negative. It is not automatically true that negative value is wrong. The FW lib. use a lot of signed values. > I also get a compiler warning about a change in sign of FINAL_I_ALIGNMENT due to integer conversion. This kind of warning, instead, you need to take care. But in this case I think that is not a problem. Maybe it is be generated by a ''Final current ramp value'' in the ''Drive Management - Start-up parameters'' that is above the ''Nominal current'' present in the ''Motor - Electrical parametes''. But since the ''Include alignment before ramp-up'' in ''Drive Management - Start-up parameters'' is disabled then the generated value (that is wrong) is not used. Any how I suggest you, to avoid the warnings during the compilation, to enable the ''Include alignment before ramp-up'' just the time to set a ''Final current ramp value'' that is allowed and then disable it back again. > It definitely seems to be a problem in the feedback from the motor. I suggest to double check the setting of the current measurement inputs ''Control Stage - Analog Input'' - ''ADC Channel selection for phase U,V, W'' and, if DAC functionality is working, to take a look at the Ia and Ib (it sould be the measured one) doing this when the open loop FOC is enabled and the motor is running. Ciao Gigi |
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