Add option to disable HFI when stopped in duty cycle and speed modes #183
+17
−2
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This introduces the HFI "Min ERPM with no input" option. It dynamically disables HFI in the duty cycle or speed modes when 0 duty cycle / speed is commanded and the ERPM of the motor is lower than the set value. A value of 0 will behave the same as before, while a value of typically a few hundred ERPM will cause HFI to turn off when the motor is stopped. The idea is to keep HFI enabled as long as the motor is moving even if the input is 0, to allow it to respond immediately to a different input, for example to accelerate an inertial load which was braking down but still in motion. On the other hand, just enabling and disabling HFI at 0 speed can induce some movement, so the threshold can't be 0 ERPM - turning off HFI would make the motor move slightly, which would turn on HFI, which would move the motor again and so on. The minimum ERPM threshold which works as intended depends on the HFI configuration and the motor. Value around 600 seem to be a good starting point for outrunners.
Contributor
|
probably want to remove the fw version change, but i see no inherent problem with this? |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This introduces the HFI "Min ERPM with no input" option. It dynamically
disables HFI in the duty cycle or speed modes when 0 duty cycle /
speed is commanded and the ERPM of the motor is lower than the set
value.
A value of 0 will behave the same as before, while a value of typically
a few hundred ERPM will cause HFI to turn off when the motor is stopped.
The idea is to keep HFI enabled as long as the motor is moving even if
the input is 0, to allow it to respond immediately to a different input,
for example to accelerate an inertial load which was braking down but
still in motion.
On the other hand, just enabling and disabling HFI at 0 speed can
induce some movement, so the threshold can't be 0 ERPM - turning off
HFI would make the motor move slightly, which would turn on HFI, which
would move the motor again and so on. The minimum ERPM threshold which
works as intended depends on the HFI configuration and the motor.
Value around 600 seem to be a good starting point for outrunners.
Matching
vesc_toolpull request here: vedderb/vesc_tool#86Video of this in action: https://www.youtube.com/watch?v=9_7IR2sysUI