Hello! The time has come to dial in the ideal settings for the ETM motor found on the V1. Why? Because it is cool.
What has happened:
I have run the setup wizard in the past and it ended up working, today I tried to do the same and it didn’t work. Only the tools found under Motor>FOC seem to work. In the wizard, it seems to get caught up on the R/L testing as it jerks the motor super hard when it tries to detect it. For some reason in the FOC section, that same test runs just fine. The values I get spin the motor and all seems fine, but of course, none of that matters until it works under load.
What is happening:
I am experiencing extreme cogging, above a certain speed the motor starts to become unstable and cant produce any additional torque. I am not sure what I should do to fix this specific problem, as all I knew before this were hypercores, this motor is much different.
Here are my current configs:
I tried lowering the current KP, halving observer gain (which seems high to me), and tweaking the resistances very slightly. I know we don’t have too much of a solid grasp on how motor tuning works but I don’t know all the things we have tried and found success with, and I figured this would be a good opportunity to allow some of you to poke around a bit more as I am eager to try new things.
Some things to consider:
This motor has 60 poles
This motor uses transverse flux tech (not sure what this entails, but it is absolutely possible to get it right)
Maybe I just need to set the cycle speed thing higher?
(vimeo upload is not working)