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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:
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MC Workbench
-
MCSDK6
-
STM32 Motor Control
1 REPLY 1
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2025-03-19 3:23 AM
Hello @msingh08,
Where the 700RPM measure come from? Is-it from an external measure or from Motor Pilot tool?
There is an issue on the ENCODER_SPEED value reported on the High Frequency plot of Motor pilot tool that will be corrected on the next MCSDK release.
Using Motor Pilot Position Control GUI, the speed indicator reports a correct value.
If you agree with the answer, please accept it by clicking on 'Accept as solution'.
Best regards.
GMA
Best regards.
GMA
