Hello Everybody,
MCSDK:6.3.0
CubeMX: 6.1.1
Workbench : 6.3.0
CubeIDE : 1.15.0
I’m currently working on a sensorless FOC setup using SMO + PLL for rotor angle estimation.
During the rev-up phase, I'm trying to implement on-the-fly startup, where the motor may already be rotating due to external force (like pedaling), and I want to bypass the full open-loop startup.
My question is:
What are the recommended conditions to ensure a safe and successful on-the-fly transition into torque mode?
For example:
Is there a minimum BEMF threshold (corresponding to a certain RPM) that must be exceeded to allow PLL to lock reliably?
Should I apply a delay or stability check to confirm the estimated angle and angular speed are stable before switching to torque mode?
Any suggestions for handling low-speed startup on uphill slopes, where the BEMF may be too weak for proper PLL locking?
Thank you in advance for any advice!
