Updating motor mechanical parameters : Inertia and friction

[EDokm]

I am trying to control a 24V PMSM type motor using ST Motor Control Workbench version 6.3.1 with the FOC.

I have run Motor Profiler and then gotten the electrical and mechanical parameters.

I have three questions and can anybody help/answer them?

1. I am running Motor Profiler without load? Am I doing correct?
2. When creating a project using Motor Control Workbench, do I need to update the inertia and friction coefficients in the motor stage depending on the load (please see attachment)? If the answer is no, where should I include the inertia and friction of the load in the project?
3. May I measure PMSM type motor inertia and friction coefficients with load? If yes, how can I do it?

Thanks in advance.

[GMA · Accepted solution]

Hello @EDokm,

You can profile your motor alone. In this case, once loaded, speed/torque regulator PID gain tuning has maybe to be done.
You can also profile the motor loaded if the profiler sequence isn’t a risk in your case (gear box or fan use case for example).