Hi, I have been working with the HSO motor control algorithm using Motor Workbench 6.2.0. I was able to successfully configure the firmware for a custom PCB, and it works correctly. The motor, which is a PMSM with 2 pole pairs, starts and runs without any issues up to 30,000 RPM using the HSO's speed mode.
However, as I increase the bearing friction to test the maximum load at which the motor can still start, I notice that no matter how much I increase the application's maximum current, it is not applied right from the beginning by the algorithm in situations where the motor is unable to mechanically move the shaft.
Specifically, I observe that from the start and for about 700ms, the algorithm applies a current equivalent to 70% of the maximum application current, and even though the shaft doesn’t move, the algorithm’s estimated speed increases linearly up to 3,000 RPM.
In this regard, after reviewing the configuration parameters in the firmware, I am wondering how the following are calculated:
SPEED_POLE_RPS doesn’t seem to change as I edit the motor parameters in Motor Workbench. Which parameters is it based on?
Regarding CrossOver_Hz, the comment indicates that it depends on the motor used, but I don’t see it change even when I modify motor settings in Motor Workbench.
The fact that the estimated speed from the HSO increases while the shaft remains stationary could be a sign that the algorithm’s observer is not properly tuned. In that case, how would it be necessary to adjust the other parameters marked in the previous image?
Thanks
