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B-G431B position control doesn't achieve maximum speed
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2025-03-14 1:30 AM
Hi all,
I have profiled the motor using the motor profiler V5.4.8 where the motor was able to achieve 4500RPM, and then created a position control project CMWB V6.2.1. the motor is using 4096CPT incremental encoders as a primary feedback source. With this project I am only able to achieve maximum speeds of 700RPM and nothing more. Can anyone explain why that would be? I am aware that motor pilot can be used to plot graphs and I have been using that to display the current motor position however I'd like to know if it is possible to plot the target position as well?
/**
******************************************************************************
* @file drive_parameters.h
* @author Motor Control SDK Team, ST Microelectronics
* @brief This file contains the parameters needed for the Motor Control SDK
* in order to configure a motor drive.
*
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2023 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef DRIVE_PARAMETERS_H
#define DRIVE_PARAMETERS_H
/************************
*** Motor Parameters ***
************************/
/******** MAIN AND AUXILIARY SPEED/POSITION SENSOR(S) SETTINGS SECTION ********/
/*** Speed measurement settings ***/
#define MAX_APPLICATION_SPEED_RPM 4596 /*!< rpm, mechanical */
#define MIN_APPLICATION_SPEED_RPM 0 /*!< rpm, mechanical,
absolute value */
#define M1_SS_MEAS_ERRORS_BEFORE_FAULTS 3 /*!< Number of speed
measurement errors before
main sensor goes in fault */
/*** Encoder **********************/
#define ENC_AVERAGING_FIFO_DEPTH 16 /*!< depth of the FIFO used to
average mechanical speed in
0.1Hz resolution */
/* USER CODE BEGIN angle reconstruction M1 */
#define REV_PARK_ANGLE_COMPENSATION_FACTOR 0
/* USER CODE END angle reconstruction M1 */
/************************** DRIVE SETTINGS SECTION **********************/
/* PWM generation and current reading */
#define PWM_FREQUENCY 10000
#define PWM_FREQ_SCALING 1
#define LOW_SIDE_SIGNALS_ENABLING LS_PWM_TIMER
#define SW_DEADTIME_NS 750 /*!< Dead-time to be inserted
by FW, only if low side
signals are enabled */
/* Torque and flux regulation loops */
#define REGULATION_EXECUTION_RATE 1 /*!< FOC execution rate in
number of PWM cycles */
#define ISR_FREQUENCY_HZ (PWM_FREQUENCY/REGULATION_EXECUTION_RATE) /*!< @brief FOC execution rate in
Hz */
/* Gains values for torque and flux control loops */
#define PID_TORQUE_KP_DEFAULT 100
#define PID_TORQUE_KI_DEFAULT 5
#define PID_TORQUE_KD_DEFAULT 100
#define PID_FLUX_KP_DEFAULT 200
#define PID_FLUX_KI_DEFAULT 5
#define PID_FLUX_KD_DEFAULT 100
/* Torque/Flux control loop gains dividers*/
#define TF_KPDIV 126
#define TF_KIDIV 16384
#define TF_KDDIV 8192
#define TF_KPDIV_LOG LOG2((126))
#define TF_KIDIV_LOG LOG2((16384))
#define TF_KDDIV_LOG LOG2((8192))
#define TFDIFFERENTIAL_TERM_ENABLING DISABLE
#define POSITION_LOOP_FREQUENCY_HZ ( uint16_t )2000 /*!<Execution rate of position control regulation loop (Hz) */
#define PID_SPEED_KP_DEFAULT 10000/(SPEED_UNIT/10) /* Workbench compute the gain for 01Hz unit*/
#define PID_SPEED_KI_DEFAULT 100/(SPEED_UNIT/10) /* Workbench compute the gain for 01Hz unit*/
#define PID_SPEED_KD_DEFAULT 200/(SPEED_UNIT/10) /* Workbench compute the gain for 01Hz unit*/
/* Speed PID parameter dividers */
#define SP_KPDIV 32
#define SP_KIDIV 1024
#define SP_KDDIV 16
#define SP_KPDIV_LOG LOG2((32))
#define SP_KIDIV_LOG LOG2((1024))
#define SP_KDDIV_LOG LOG2((16))
/* USER CODE BEGIN PID_SPEED_INTEGRAL_INIT_DIV */
#define PID_SPEED_INTEGRAL_INIT_DIV 1 /* */
/* USER CODE END PID_SPEED_INTEGRAL_INIT_DIV */
#define SPD_DIFFERENTIAL_TERM_ENABLING DISABLE
#define IQMAX_A 1
/* Default settings */
#define DEFAULT_CONTROL_MODE MCM_POSITION_MODE //MCM_SPEED_MODE
#define DEFAULT_TARGET_SPEED_RPM 0.1
#define DEFAULT_TARGET_SPEED_UNIT (DEFAULT_TARGET_SPEED_RPM*SPEED_UNIT/_001HZ)
#define DEFAULT_TORQUE_COMPONENT_A 0
#define DEFAULT_FLUX_COMPONENT_A 0
#define PID_POSITION_KP_GAIN 30000
#define PID_POSITION_KI_GAIN 1000
#define PID_POSITION_KD_GAIN 22000
#define PID_POSITION_KPDIV 128
#define PID_POSITION_KIDIV 32768
#define PID_POSITION_KDDIV 512
#define PID_POSITION_KPDIV_LOG LOG2((128))
#define PID_POSITION_KIDIV_LOG LOG2((32768))
#define PID_POSITION_KDDIV_LOG LOG2((512))
#define PID_POSITION_ANGLE_STEP 0.01
#define PID_POSITION_MOV_DURATION 30.0
/************************** FIRMWARE PROTECTIONS SECTION *****************/
#define OV_VOLTAGE_THRESHOLD_V 28 /*!< Over-voltage
threshold */
#define UD_VOLTAGE_THRESHOLD_V 8 /*!< Under-voltage
threshold */
#ifdef NOT_IMPLEMENTED
#define ON_OVER_VOLTAGE TURN_OFF_PWM /*!< TURN_OFF_PWM,
TURN_ON_R_BRAKE or
TURN_ON_LOW_SIDES */
#endif /* NOT_IMPLEMENTED */
#define OV_TEMPERATURE_THRESHOLD_C 70 /*!< Celsius degrees */
#define OV_TEMPERATURE_HYSTERESIS_C 10 /*!< Celsius degrees */
#define HW_OV_CURRENT_PROT_BYPASS DISABLE /*!< In case ON_OVER_VOLTAGE
is set to TURN_ON_LOW_SIDES
this feature may be used to
bypass HW over-current
protection (if supported by
power stage) */
#define OVP_INVERTINGINPUT_MODE INT_MODE
#define OVP_INVERTINGINPUT_MODE2 INT_MODE
#define OVP_SELECTION COMP_Selection_COMP1
#define OVP_SELECTION2 COMP_Selection_COMP1
/****************************** START-UP PARAMETERS **********************/
/* Encoder alignment */
#define M1_ALIGNMENT_DURATION 700 /*!< milliseconds */
#define M1_ALIGNMENT_ANGLE_DEG 0 /*!< degrees [0...359] */
#define FINAL_I_ALIGNMENT_A 1 /*!< s16A */
// With ALIGNMENT_ANGLE_DEG equal to 90 degrees final alignment
// phase current = (FINAL_I_ALIGNMENT * 1.65/ Av)/(32767 * Rshunt)
// being Av the voltage gain between Rshunt and A/D input
#define TRANSITION_DURATION 25 /* Switch over duration, ms */
/****************************** BUS VOLTAGE Motor 1 **********************/
#define M1_VBUS_SAMPLING_TIME LL_ADC_SAMPLING_CYCLE(47)
/****************************** Temperature sensing Motor 1 **********************/
#define M1_TEMP_SAMPLING_TIME LL_ADC_SAMPLING_CYCLE(47)
/****************************** Current sensing Motor 1 **********************/
#define ADC_SAMPLING_CYCLES (6 + SAMPLING_CYCLE_CORRECTION)
/****************************** ADDITIONAL FEATURES **********************/
/*** On the fly start-up ***/
/**************************
*** Control Parameters ***
**************************/
/* ##@@_USER_CODE_START_##@@ */
/* ##@@_USER_CODE_END_##@@ */
#endif /*DRIVE_PARAMETERS_H*/
/******************* (C) COPYRIGHT 2023 STMicroelectronics *****END OF FILE****/
I have attached the code drive_parameters.h file that I am currently using
Labels:
- Labels:
-
MC Workbench
-
MCSDK6
-
STM32 Motor Control
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