Dear folks,
Since my last post here I think I progressed a lot. Especially considering my quite limited knowledge of electronics.
Thanks for all the people who contributed to make this forum so informative.
Now I would like some help if I may to fine tuning the VESC. There are too many parameters and I’m not quite sure about the ones who really matter.
My setup is a 12s2p 9A (2 x 6s2p drone batteries), 75100 Pro VESC, 6384 140Kv Flipsky Motor and Maytech remote.
Below my configurations for Motor and App. I appreciate with someone can help to optimize the inputs. It seems I’m getting maximum throttle at 25%. No sure why.
My plan is to give back to the community a template that can be copied.
Many thanks in advance,
OC
MOTOR
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General Tab
General
Motor Type: FOC
Invert Motor Direction: False
Sensors
Sensor Port Mode: PWM
ABI Encoder counts: 8192
Sine Amplitude: 1.000 V
Cosine Amplitude: 1.000 V
Sine Offset: 1.650 V
Cosine Offset: 1.650 V
Sin/Cos Filter Constant: 0.5
Sin/Cos Phase Correction: 0.00°
Current
Motor Current Max: 60.00 A
Motor Current Max Brake: -30.00 A
Absolute Maximum Current: 150.00 A
Slow ABS Current Limit: False
Max Current Scale: 100%
Min Current Scale: 100%
Battery Current Max: 8.00 A
Battery Current Max Regen: -3.00 A
Input Current Limit Map Start: 100%
Input Current Map Filter: 0.005
DRV8301 OC Mode: Current Limit
DRV8301 OC Adjustment: 16
Voltage
Battery Voltage Cutoff Start: 42.0 V
Battery Voltage Cutoff End: 38.0 V
Battery Voltage Regen Cutoff Start: 50.0 V
Battery Voltage Regen Cutoff End: 51.5 V
Battery Filter Constant: 45
RPM
Max ERPM: 90000.00
Max ERPM Reverse: -100000.00
ERPM Limit Start: 80% (0.80)
Wattage
Maximum Wattage: 1500000.0 W
Maximum Braking Wattage: -1500000.0 W
Temperature
Motor Temperature Sensor Type: Disabled
Beta Value for Motor Thermistor: 3380.0 K
Coefficient for PTC Motor Thermistor: 0.610 %/K
Custom NTC/PTC Resistance: 10.00 kΩ
Custom NTC/PTC Base Temperature: 25.00 °C
Acceleration Temperature Decrease: 15%
MOSFET Temp Cutoff Start: 85 °C
MOSFET Temp Cutoff End: 100 °C
Motor Temp Cutoff Start: 85 °C
Motor Temp Cutoff End: 100 °C
BMS
BMS Type: None
BMS Limit Mode: Overtemp & SOC (Checked)
Temperature Limit Start: 45 °C
Temperature Limit End: 65 °C
SOC Limit Start: 5% (0.05)
SOC Limit End: 0%
VCell Min Limit Start: 2.90 V
VCell Min Limit End: 2.50 V
VCell Max Limit Start: 4.20 V
VCell Max Limit End: 4.30 V
Forward CAN to Local: Disabled
Advanced
Minimum Input Voltage: 36.0 V
Maximum Input Voltage: 60.0 V
Minimum Duty Cycle: 0.50%
Maximum Duty Cycle: 95.00%
Minimum Current: 0.05 A
Fault Stop Time: 500 ms
Auxiliary Output Mode: Off
Duty Cycle Current Limit Start: 100% (1.00) -
FOC Tab
General
Sensor Mode: Sensorless
Motor Resistance (R): 32.2 mΩ
Motor Inductance (L): 23.87 μH
Motor Inductance Difference (Lq - Ld): 7.66 μH
Motor Flux Linkage (λ): 5.566 mWb
Current KP: 0.047
Current KI: 64.46
Observer Gain (x1M): 32.38
Sensorless
Openloop ERPM: 1500
Openloop ERPM at Min Current: 0%
Openloop Hysteresis: 0.10 S
Openloop Lock Time: 0.00 S
Openloop Ramp Time: 0.10 S
Openloop Time: 0.05 S
Openloop Current Boost: 0.00 A
Openloop Current Max: -1.00 A
Start Current Decrease: 100% (1.00)
Start Current Decrease ERPM: 2500
Saturation Compensation Mode: Disabled
Saturation Compensation Factor: 0%
Temp Comp: False
Temp Comp Base Temp: 25.0 °C
Hall Sensors
Sensored ERPM Start: 2500
Sensorless ERPM: 3500
Hall Interpolation ERPM: 500
Hall Table (0 to 7): 255 (All indexes)
Hall Sensor Extra Samples: 3
Encoder
Sensorless ERPM: 3500
Encoder Offset: 180
Encoder Ratio: 7
Encoder Inverted: False
HFI
HFI Ambiguity Resolve Mode: Six Vectors
HFI Ambiguity Resolve Current: 60.0 A
HFI Ambiguity Resolve Threshold: 15%
HFI Samples: 16
HFI Start Voltage: 20.0 V
HFI Run Voltage: 4.0 V
HFI Max Voltage: 6.0 V
HFI Gain: 0.3
HFI Max Error: 0.3
HFI Current Hysteresis: 0.00 A
Sensorless ERPM HFI: 3000
HFI Start Samples: 5
HFI Observer Override Time: 1.0 ms
VSS
HFI Samples: 16
HFI Start Voltage: 20.0 V
HFI Start Samples: 5
Openloop ERPM: 1500
Filters
Enable Phase Filters: False
Maximum ERPM for phase filters: 4000 ERPM
Disable Phase Filter Fault Code: True
Offsets
Offset Calibration Mode: Calibrate on Boot (Checked)
Auto Calibrate / Write Enabled: False / Unchecked
Current Offset 0: 2042.48
Current Offset 1: 2041.92
Current Offset 2: 2046.53
Voltage Offset 0: 0.0018 V
Voltage Offset 1: 0.0002 V
Voltage Offset 2: -0.0020 V
Voltage Offset Undriven (0 to 2): 0.0000 V
Field Weakening
Field Weakening Current Max: 0.00 A
Field Weakening Duty Start: 90.00%
Field Weakening Ramp Time: 200 ms
Q Axis Current Factor: 2.00%
Advanced
Zero Vector Frequency: 30.0 kHz
Dead Time Compensation: 0.120 μs
Speed Tracker Kp / Ki: 2000.00 / 30000.00
Duty Downramp Kp / Ki: 50.00 / 1000.00
Control / Current Sample Mode: V0 Only / Longest Zero Time
Observer Gain At Minimum Duty: 5% (0.05)
Current Filter Constant: 0.1
Current Controller Decoupling: FOC_CC_DECOUPLING_DISABLED
Observer Type: FOC_OBSERVER_MXLEMMING_LAMBDA_COMP
D Axis Gain Scaling (Start / Max Mod): 90% / 90%
MTPA Algorithm Mode: Disabled
Observer Offset: -1.00
Speed Tracker Position Source: Corrected Position
Short Low-Side FETs on Zero Duty: False
Overmodulation Factor: 1 -
PID Controllers Tab
Common & Speed Controller
PID Loop Rate: 1000 Hz
Speed PID Kp / Ki / Kd: 0.00400 / 0.00400 / 0.000400
Speed PID Kd Filter: 0.2
Minimum ERPM: 900
Allow Braking: True
Ramp eRPMs per second: 25000
Speed Tracker Position Source: Corrected Position
Speed Source: PLL
Position Controller
Position PID Kp / Ki / Kd: 0.02500 / 0.00000 / 0.00000
Position PID Kd Process / Filter: 0.00035 / 0.200
Position Angle Division: 1
Gain Decrease Angle: 0.0°
Position PID Offset Angle: 0.0000° -
Additional Info Tab
Setup
Motor Poles: 14
Gear Ratio: 3
Wheel Diameter: 83.00 mm
Battery Type: BATTERY_TYPE_LIION_3_0_4_2
Battery Cells Series: 12
Battery Capacity: 9.000 Ah
Motor No Load Current: 1.0000 A
Motor General
Motor Brand / Model: (Blank)
Motor Weight: 0.00 g
Position Sensor: No sensor
Description & Quality
Text: “A motor description can be edited here.”
Metrics: Bearing Quality (0), Magnet Quality (0), Construction Quality (0) -
Experiments Tab
Setup Parameters
Duty Sweep: From 0.00 to 0.50 | Step: 0.02 | TS: 2.00 s
Current Sweep: From 0.00 to 20.00 | Step: 2.00 | TS: 2.00 s
ERPM Sweep: From 0 to 10000 | Step: 500 | TS: 2.00 s | End: 10000
EXT Monitor
Victron Energy: COM7 (Disconnect status)
APP
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General Tab
General
APP to Use: PPM
VESC ID: 114
Timeout: 1000 ms
Timeout Brake Current: 0.00 A
CAN Baud Rate: CAN_BAUD_500K
Pairing Done: False
Enable Permanent UART: True
Shutdown Mode: OFF_AFTER_30M
CAN Mode: VESC
UAVCAN ESC Index: 0
UAVCAN Raw Throttle Mode: Current Control
UAVCAN Status Current Mode: Motor Current
UAVCAN Raw RPM Max: 50000
Enable Servo Output: False
Kill Switch Mode: Disabled
CAN Messages Rate 1
Can Status Rate 1: 50 Hz
Can Messages Rate 1: Status 1, Status 2, Status 3, Status 4, Status 5, Status 6 (Checked)
CAN Messages Rate 2
Can Status Rate 2: 5 Hz
Can Messages Rate 2: Status 1, Status 2, Status 3, Status 4, Status 5, Status 6
Tools
Servo Output: Center -
PPM Tab
General
Control Type: Current No Reverse
Median Filter: True
Safe Start: Regular
PID Max ERPM: 150000.00
Positive Ramping: 0.40 s
Negative Ramping: 0.20 s
Max ERPM for direction switch: 4000
Smart Reverse Max Duty Cycle: 7% (0.070)
Smart Reverse Ramp Time: 3.00 s
Multiple VESCs over CAN
Multiple VESCs Over CAN: True
Traction Control: False
TC Max ERPM Difference: 3000
Mapping
Pulselength Start: 1.0000 ms
Pulselength End: 2.0000 ms
Pulselength Center: 1.5000 ms
Input Deadband: 15%
Throttle Curve
Throttle Expo: 0%
Throttle Expo Brake: 0%
Throttle Expo Mode: Polynomial -
Nrf Tab
Radio
TX Power: 0 dBm
Speed: 1 MBit/s
Radio Channel: 76
Integrity
CRC: 1 Byte
Send ACK: True
Retry Delay: 250 µS
Retries: 3
Address
Address 0: 198
Address 1: 199
Address 2: 0 -
IMU Tab
General
IMU Type: IMU_TYPE_INTERNAL
Use magnetometer: True
Sample Rate: 200 Hz
Accel/Gyro Filter: IMU_FILTER_MEDIUM
Accel lowpass filter X: 0.0 Hz
Accel lowpass filter Y: 0.0 Hz 0.0 Hz
Accel lowpass filter Z: 0.0 Hz
Gyro lowpass filter: 0.0 Hz
AHRS
IMU AHRS Mode: AHRS_MODE_MADGWICK
Accelerometer Confidence Decay: 1
Mahony KP: 0.3
Mahony KI: 0
Madgwick Beta: 0.1
Rotation
Imu Rotation Roll: 0.000°