System Details:
MCSDK Version: 6.4
Tool: MC Workbench 6.4.0
Control Board: B-G431B-ESC1
Motor: GL40 KV210
Encoder: AS5047P with quadrature output
Hello,
I'm new to BLDC and FOC motor control and am currently trying to implement speed control using a quadrature encoder with my B-G431B-ESC1 board and GL40 KV210 motor. I've reviewed the manual and various forum posts regarding similar issues, but haven't found a solution.
My primary problem is that while the setup functions correctly in sensorless mode, open-loop voltage, and open-loop current modes, encoder-based speed control is not working. Interestingly, the speed and direction calculated by the encoder align with the estimates from the sensorless approach.
I suspect the issue lies with the encoder alignment process. I've observed the `stopll_el_angle` and `enc_el_angle` plots before and after alignment (as shown in the attached picture). During the alignment process, I plotted `I_q_meas` and `I_d_meas`. It appears current is flowing through the motor windings, as `I_d` current ramps from 0 to the maximum rated current I set in MC Workbench. However, I noticed no significant motor movement during this process. After alignment, the motor consistently stalls, sometimes moving briefly but never continuously.
I've spent several days troubleshooting this without success. Has anyone experienced a similar problem, or can you offer any guidance on what might be going wrong?
As a side note, I've noticed an unexplained `Iq_meas` value of approximately 30 amps in the registry when the board is powered on, even when no current is flowing through the motor wires.
Start-up parameters form the Speed config:
Duration: 5000ms
Alignment electrical angle of Id: 90 deg
Final current ramp: 4.9 A
BTW: I've noticed an unexplained `Iq_meas` value of approximately 30 amps in the registry when the board is powered on, even when no current is flowing through the motor wires.
