HALL Electrical vs PLL Electrical Angle Variation

[Hima]

I am using Motor Control v6.4.2 to run the motor with the custom board with STM32G4 Series controller with Currents + HALL feedbacks for BLDC hub motors. 

Currently we are using Main Sensor "Observer+PLL" and auxiliary sensor "Hall Sensor" during STARTUP and Swap these sensors in RUN state.

We could see motor is running at a constant speed all the time and not reacting to any change in parameters even after change the requested torq parameters to the torq PI controllers.

Questions
1 PLL and HALL electrical angles are not in Sync during motor running phase. How can we make the Electrical angle phase shift between HALL and PLL to 0?

​​​​​​​​​​​​​​2 Motor Controller is not responding to the update current commands as expected, What Would be the Possible root cause for this kind of behavior?

any Help on these is greatly appreciated. Thanks:)

-Himavanth

[GMA]

Hello ​@Hima,

Q1. Verify the motor Hall settings: sensor displacement and placement electrical angle. MC Pilot Profiler can compute these Hall sensor parameters. Refer to the Motor Profiler Application Note in Workbench tool > About > Documentations > Documentation > User manual.

Q2. Is an error reported for the target torque command? Is the IQ_REF value updated?

[Hima]

Hello ​@GMA,

We are seeing IqRef value not updated in the system when the duration parameter is greater then 2000 ms(or certain value) in Torq mode.

1. Is there any limitation on the timing parameter when we are working with Torq mode?
2. How can validate the Current Parameters Ia, Ib and Ic?(currently we are working on the custom board)

[GMA]

Hello ​@Hima,

Refer to the STC_ExecRamp() function in speed_torq_ctrl.c file. On TORQUE mode, command will not be taken into account if current value exceeds the NOMINAL_CURRENT current value.