Hi Community,
we are building some sort of RC vehicle using the following:
- MC Motor Control Workbench 6.3 with FOC-Algorithm
- Control Board: B-G431B-ESC1
- Encoder (4096 PPR)
- BLCD-Motor with 5 pole pairs
our setup runs well enough when using a 1:10 gearbox. For another prototype we switched to a 1:5 gearbox and this is where the problems start to occur.
When running the motor at arround 300 to 500 RPM (with or without load) all seems normal but when we increase the velocity further (arround 700 RPM) all of a sudden one of the two motors changes direction and spins at a very fast speed (arround 2000 RPM) in the opposite direction.
When restarting the application all runs normal again until we hit that velocity agian.
Startup and Encoder-Alignment seem to be ok. I suspect some sort of variable overflow or underflow somewhere in the speed pid controller but do not know where to start digging.
Did anybody encouter a similar problem and may have some suggestions ?
