1. As I mentioned earlier, we are using MotorControlSDK_5_00 version for our development activity. 2. I am not sure about lab03 and lab04. Can you please mention how do the above activity in MotorControlSDK_5_00 by using DRV8353 with F2800157 launchpad (I am using 24V encoder motor for this activity). 3. Currently, I am maintaining USER_MOTOR1_ALIGN_CURRENT_A (32.0). Can you please mention, by increasing alignment current, how it will impact on above issue? 4. Based on the encoder sensor and motor, I am maintaining all the encoder parameters properly. Apart from USER_MOTOR1_NUM_ENC_SLOTS, any parameters I need to check? 5. In UMC, we are reading obj->angleENC_rad and obj->speed_Hz as below. As you see in the above videos under encoder estimator if I disable RunAndIdentity flag obj->angleENC_rad angle is settling with some value based on rotor position, but obj->speed_Hz is oscillating with junk values and after so much delay only it is coming to zero. . We are getting obj->speed_Hz value form this below function as a return variable and here, I am not able to find, why it is not coming to zero, when RunAndIdentity flag is zero because logic is not given for this part. 6. In FAST estimator, we are getting rotor angle by estimated angle and feeding it to FOC_rad and then we are running the motor but in ENOCDER estimator we are getting the rotor angle based on angleENC_rad and then we are running the motor. Please mention the logic behind this FAST and ENCODER estimator rotor angle calculation. 7. If you share source code related to the angle and speed estimation, it will be helpful for our activity. 8. Please mention the variables we need to tune, if there is any difference between encoder angle and speed. 9. This issue is not occurring in FAST and HALL estimator but only getting in ENCODER estimator. Thank you, Regards, Kirana H P
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