Motor not work with FOC Sensorless repository

Kyuubi0323 — Wed, 07 May 2025 04:53:44 GMT

Hi, im currently following the guideline of this "dm-ml-sensorless-anomaly-detection" project. I used another motor, all others are the same. But when dealing with its params set up, things not work. And i checked that there's not MCAT within the Demo repos, so i just modified the m1_pmsm_appconfig like the guideline.
The belows is my settings (the Motor is Mitsubishi model: HC-KFS03 51V)

#define M1_MOTOR_PP (4)

#define M1_I_PH_NOM (1.0F)

#define M1_N_NOM (550.0F)

#define M1_I_MAX (8.25F)

#define M1_U_DCB_MAX (60.8F)

#define M1_U_DCB_TRIP (28.0F)

#define M1_U_DCB_UNDERVOLTAGE (16.0F)

#define M1_U_DCB_OVERVOLTAGE (30.0F)

#define M1_N_OVERSPEED (1842.65F)

#define M1_N_MIN (125.664F)

#define M1_E_BLOCK_TRH (0.7F)

#define M1_E_BLOCK_PER (2000)

#define M1_N_MAX (1843.07F)

#define M1_CALIB_DURATION (200)

#define M1_FAULT_DURATION (6000)

#define M1_FREEWHEEL_DURATION (1500)

#define M1_SCALAR_UQ_MIN (1.0F)

#define M1_ALIGN_VOLTAGE (1.2F)

#define M1_ALIGN_DURATION (16000)

#define M1_U_MAX (35.1029F)

#define M1_FREQ_MAX (293.333F)

#define M1_N_ANGULAR_MAX (2.38732F)

#define M1_UDCB_IIR_B0 (0.0192568F)

#define M1_UDCB_IIR_B1 (0.0192568F)

#define M1_UDCB_IIR_A1 (0.961486F)

#define M1_SCALAR_VHZ_FACTOR_GAIN (0.0562500F)

#define M1_SCALAR_INTEG_GAIN ACC32(0.0366667)

#define M1_SCALAR_RAMP_UP (0.0208333F)

#define M1_SCALAR_RAMP_DOWN (0.0208333F)

/* CURRENTLOOP*/

#define M1_D_KP_GAIN (0.459831F)

#define M1_D_KI_GAIN (0.0667179F)

#define M1_Q_KP_GAIN (0.344020F)

#define M1_Q_KI_GAIN (0.0601689F)

#define M1_CLOOP_LIMIT (0.519615F)

/* SPEEDLOOP*/

#define M1_SPEED_RAMP_UP (1.09440F)

#define M1_SPEED_RAMP_DOWN (1.09440F)

#define M1_SPEED_LOOP_HIGH_LIMIT (2.0F)

#define M1_SPEED_LOOP_LOW_LIMIT (-2.0F)

#define M1_SPEED_PI_PROP_GAIN (0.00920221F)

#define M1_SPEED_PI_INTEG_GAIN (0.0000809469F)

#define M1_SPEED_IIR_B0 (0.0192568F)

#define M1_SPEED_IIR_B1 (0.0192568F)

#define M1_SPEED_IIR_A1 (0.961486F)

/* SENSORS*/

#define M1_POSPE_ENC_PULSES (1000)

#define M1_POSPE_ENC_DIRECTION (0)

#define M1_POSPE_ENC_N_MIN (0.0F)

#define M1_POSPE_MECH_POS_GAIN ACC32(16.384)

#define M1_POS_P_PROP_GAIN FRAC16(0.12)

#define M1_POSPE_TO_KP_GAIN (1256.64F)

#define M1_POSPE_TO_KI_GAIN (24.6740F)

#define M1_POSPE_TO_THETA_GAIN (0.0000198944F)

/* SENSORLESS*/

#define M1_OL_START_RAMP_INC (0.0785398F)

#define M1_OL_START_I (1.5F)

#define M1_MERG_SPEED_TRH (209.440F)

#define M1_MERG_COEFF FRAC16(0.00208333)

#define M1_I_SCALE (0.878706F)

#define M1_U_SCALE (0.168464F)

#define M1_E_SCALE (0.168464F)

#define M1_WI_SCALE (0.0000495283F)

#define M1_BEMF_DQ_KP_GAIN (0.508991F)

#define M1_BEMF_DQ_KI_GAIN (0.0723935F)

#define M1_TO_KP_GAIN (879.646F)

#define M1_TO_KI_GAIN (12.0903F)

#define M1_TO_THETA_GAIN (0.0000198944F)

#define M1_TO_SPEED_IIR_B0 (0.0728205F)

#define M1_TO_SPEED_IIR_B1 (0.0728205F)

#define M1_TO_SPEED_IIR_A1 (0.854359F)

Re: Motor not work with FOC Sensorless repository

Harry_Zhang — Thu, 08 May 2025 09:09:11 GMT

Hi @Kyuubi0323

What exactly is “not working”? Does it fail to start? Go into fault immediately? Stay in alignment phase?

Are there any UART log messages?

Harry

MCX MicrocontrollersのトピックMotor not work with FOC Sensorless repository

Motor not work with FOC Sensorless repository

Re: Motor not work with FOC Sensorless repository