PID speed control and tuning of parameters of "GL30 KV290 motor" with "B-G431B-ESC1" via ST MC Workbench

[Neng]

As I am using this particular motor, "GL30 KV290", to test with the eval. board "B-G431B-ESC1". Although I was able to profile the motor using the profiler and eventually control it using motor pilot, I would like to properly assess how we can achieve PID control effectively for the speed of the motor, and how to tune RevUP parameters.

(1) I profile the motor using the following information:

     Magnetic Struct: SM-PMSM, Pole-Pairs: 7, Max. Speed: 3060rpm, Supply Voltage: 12V, Peak Current: 7.4Apk

GL30 KV290 Gimbal Motor-Light 41g, Compact Φ34.5×15.7mm

With this link as the reference, pls check if i profiled the motor correctly?

(2) Once I start to control the motor using motor pilot tool, I reach to this page as shown below:

I only tested my motor with default auto calculated PID settings, and with speed adjustment the motor rotated at the set speed although not very constant. I don't really know to fine tune these settings to achieve proper PID speed control for the motor. Could you explain to me more about this?

(3) Also, the motor was configured automatically with some rev-up parameters as can be seen below.

Do we need to make any changes to this set of parameters for our motor, and if so, what each step means and how to determine proper values for these steps?

(4) Additional question: Can we calculate the torque for this motor, when running at a certain speed? Do we have a way to measure motor torque in newton-metre?

[GMA · Accepted solution]

Hello @Neng,

(1) Parameters are in line with motor documentation.
(2) PID tuning is widely described in the literature. You can have a look to this training video.
(3) The RevUp period ensures a correct handover to the STO-PLL sensorless observer algorithm.
(4) Perform the measurement using a dynamometer.
Refer to the Motor Control Documentation available through Workbench tool > About > Documentations > Documentation > User manual for additional details.

[Neng]

Thank you for your prompt response.

I will take a look at your suggested docs and video.

But would you tell me more of point (3) regarding RevUp period? Default is usually optimal, or should I change?

[GMA]

Hello @Neng,

RevUp period should be optimal. 
In case of reported error, refer to User manual, "(FOC) Firmware errors" link for error description and management.