Motor Startup Problems

[Hima]

Hi ST team,

I am using STM32G474RE+IHM08M1 NUCLEO board with FOC library with HALL feedback.

Please find the ST Motor Pilot software tool snapshot after interfacing. for your reference. 

We have profiled the motor using motor profiler software and used the same motor profiler output to configure the project using ST motor control workbench. 

Observation:

Image2, I have a problem with producing initial Torq on motor coils, as seen from the image attached below I found Torq reference is set to 8A but measured value ranged from +1A to -1A, which is way below the reference value. When I turn the wheel(external force), wheel is automatically picking the reference Torq at that point. I have tried tweaking the Iq and 

These are my questions: 

1. What are the common causes of the Startup torq issues in a motor controllers(HALL +FOC)?

2. How to tune Iq and Id loops to find the right parameters of Kp and KI? 

3. What should be the order of turning of Iq and Id loops? 

Any help on this is greatly appreciated!

Thanks & Regards

- Himavanth Reddy G

[GMA]

Hello @Hima,

1. What do you mean by ‘Startup torq issues’? Does the motor start or not? Do you have an error reported? The "Target torque" will be achieved if you add load on your motor. With no load, Iq could be lower and maximum speed is reached.

2. You can tune PID parameters using the MC Pilot interface clicking on the "Advanced Configuration" button.