PI控制调参

[sunboy_351]

MCSDK5.4.8版本 相最大电流270A，采样电阻0.0009欧，Lq 0.0991mH，Ld 0.04115mH，定子电阻0.01974毫欧，三电阻采样，相电流采样放大倍数3，电机相移角295度，PWM  16000Hz， 扭矩环调参后电机轴抱死，无法启动。

[FBL]

Hello @sunboy_351 

Correct me if this translation is incorrect.
> The MCSDK5.4.8 version has a maximum current of 270A, a sampling resistance of 0.0009 ohms, Lq of 0.0991mH, Ld of 0.04115mH, a stator resistance of 0.01974 milliohms, three-resistor sampling, a phase current amplification factor of 3, a motor phase shift angle of 295 degrees, and a PWM frequency of 16000Hz.

After adjusting the torque loop parameters, the motor shaft is locked and cannot be started.

Have you tried reducing the gains? Have you tried X-CUBE-MCSDK-6?

[sunboy_351]

BMS128-60H  Motor（Hall）
	示例	参数值		示例	参数值
voltage platform		60V/72VDC	rated power		1.5kW
peak power		4KW	rated torque		4.1N.m
Peak torque		45N.m	peak current		270A（45Nm）
Max.speed		5400rpm	Ke		8.63V/krpm(线反电动势有效值)
POLE_PAIR_NUM		3	Lq		0.09991mH
ld		0.04115mH	Rs(line)		19.74mΩ
Max.fwcurrent		212ARMS	温度传感器型号		MF58-503F3950
Max.power		4kW	Max.torque		45Nm
			rotational inertia		2.6g.m2

Motor parameter

Workbench:

test

1 first start  status  under voltage

2.clear  the  fault  next  start  

motor Vibration  status  Run  is not faults

Stop-> next start:  motor is not rotate

Open loop   motor Normal rotation

I use STM32F103RBT6, 64MHz, the above problem occurs, how to find the problem point?