Hi,
I am using StevalESC001 board and MCSDK latest version to implement FOC on a custom motor.
I am facing a few issues while testing it with load. I am unaware of what might be the cause of these issues if anyone could direct me towards what might be happening it would be helpful.
First of all, during the startup motor sometimes starts spinning in anticlockwise direction that too at a very high speed. This behavior is random, I haven't yet identified any pattern into it, and it becomes more frequent when testing with load. I also noticed that sometimes Iq value shown in motor pilot is -10A initial which seems wrong, shouldn't it be 0 initially?
Another issue is with the Actual RPM and the RPM shown in motor pilot, the RPM shown by motor pilot is 300 to 500 more as compared to actual RPM the motor is spinning at. The difference increases as we increase the throttle. Also, motor seems to reach its capacity at only half throttle. It is producing only 600 g of thrust when expected at full throttle is 1kg. It seems to saturate at a 50% throttle and above that there is no change in speed, torque or thrust. Iq fluctuations also increase a lot, and it constantly makes correction, so the motor spins also fluctuate. Overall behavior is very unstable after 500g of thrust and 50% throttle, even the motor pilot starts twitching. All these testing errors are happening when load is applied, otherwise the motor works fine.
Also, after changing the throttle it is reflected pretty late in the motor. There is noticeable lag into execution.
I have a hypothesis that there is some issue in Iq and Id calculations due to FOC parameters not being tuned but I am not sure how to tune them. Can someone help me with this?
