BLDC电机控制怎么获得正确的速度斜坡？

我已经确定，电机总是以最大速度旋转，我不能用速度斜坡减速。



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I have determined, that the motor always spins at the maximum speed, and I can not slow it down with speed ramps.

亲爱的先生
为了帮助您解决问题，首先，您是否会介绍如何使用MCI功能在您的FW中实现速度提升？
谢谢。
最好的祝福，
王RD



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Dear Sir
For trying to help you resolve the issue, firstly, would you describe how you implement speed ramp in your FW by using MCI functions?
Thanks.
Best regards,
Wang RD

一般，
void MCI_ExecSpeedRamp（CMCI oMCI，int16_t hFinalSpeed，uint16_t
如果您不使用Workbentch（WB）将此命令发送到FW，则应通过在FW中设置目标转子速度和持续时间来调用hDurationms。
或者，在没有对FW进行任何修改的情况下，可以从WB发送ramp命令。在'高级'标签，按钮'Exec ramp'，命令（最终速度和持续时间从现在开始）将被发送到FW。
最好的祝福，
王RD



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Normally,

void MCI_ExecSpeedRamp(CMCI oMCI, int16_t hFinalSpeed, uint16_t
hDurationms) should be called by setting the target rotor speed and duration time in your FW if you do not use Workbentch(WB) to send this command to FW.

Or, without any modification for FW, ramp command can be sent from WB.  In 'advanced ' label, push button 'Exec ramp', the command (final speed and duration time from present) will be sent to FW.

Best regards,

Wang RD

附加信息：我的电机最大转速为6500rpm，有3个霍尔传感器安装在120度。



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ADDITIONAL INFO: My motor spins at 6500rpm maximum and has 3 Hall sensors mounted at 120 degrees.

亲爱的Rengdong！
谢谢您的回复。我用
你提到的MCI_ExecSpeedRamp函数。如果我使用FOC算法进行计算，我可以根据需要使用速度斜坡，因此我可以在运行期间修改速度。如果我使用霍尔传感器作为我的主传感器（并且没有其他传感器），速度斜坡会执行（根据MCI_RampCompleted功能），但PWM信号的占空比保持不变。当以霍尔传感器模式启动时，它总是将电机旋转到最大速度，我无法改变它。我不知道，我的设置有什么问题。我不认为霍尔传感器模式不支持斜坡。也许FOC固件有错误？
我在等待你的回答！
感谢您的时间和帮助！
丹尼尔



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Dear Rengdong!
Thank you for your reply. I use the
MCI_ExecSpeedRamp function that you mentioned. If I use the FOC algorithm to compute, I can use speed ramps as I want, and thus I can modify the speed during run. If I use Hall-sensors as my main sensor, (and no other sensors) the speed ramps do execute (according to MCI_RampCompleted function), but the duty cycle of the PWM signal stays constant. When starting with Hall-sensor mode, it always spins up the motor to the maximum speed, and I can not change that. I have no idea, what is wrong with my setup. I dont think, that the Hall-sensor mode dont support ramps. Maybe there is an error in the FOC firmware?

I am waiting for your answer!

Thank you for your time and assistance!

Daniel

我遇到过同样的问题。
您的速度PI调整不正确，速度环路大量上升。尝试增加速度PI控制器的增益。此外，减少PI除数，直到您处于正确的范围内。
与套件附带的小型电机及其标准项目设置相比，我不得不做出巨大的改变，因为我们的电机要大得多，因此需要更高的速度控制器增益。



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I had the same issue.
Your speed PI tuning is not right and the speed loop is winding up massively. Try increasing the gains of your speed PI controller. Also, reduce the PI divisors until you are in the correct range.
I had to make huge changes compared with the small motor that comes with the kit and its standard  project settings because our motor is much bigger so needed higher speed controller gains.

谢谢哈尼！我在上周寻找这个问题。我很高兴，你说过，我没有更多想法在哪里寻找这个问题。我还有一个比例子更强大，更大的电机。
尽管如此，我还不是调整PI控制器的大专家。
这是我的控制器：
在你的电机中，发现什么范围足够？
谢谢
 
丹尼尔



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Thanks Hani! I was looking for the issue in the last week. I am very happy, that you said that, I had no more ideas where to search for the issue. I also have a more powerful and bigger motor, than the example.
Altough, I am not a big expert in tuning PI controllers.
This is my controller:
In your motor, what range found out to be sufficent?
Thank you


Daniel

你说得对！在调节调节器后，速度斜坡就像魅力一样。谢谢！
但扭矩相当弱。你建议强制执行什么？



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You were absolutely right! After tuning the regulators, the speed ramps works like charm. Thank you!
But the torque is quite weak. What do you recommend to enforce it?

谢谢！这是放置角度，这是错误的。但我遇到了一个有趣的问题。整个设置通过MC工作台正常工作，但当我将其移植到我们正在设计的应用程序时，pid再次未经调整。 WB和它在相同的定制PCB上运行。可能是什么问题？我没碰到电机控制部分。你注意到这样的事吗？



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Thanks! It was the placement angle, which was wrong. But I came to an interesting problem. The whole setup works fine through the MC workbench, but when I port it to the application we are designing, the pid is unadjusted again. The WB and this are running on the same custom made PCB. What could be the issue? I did not touch the motor control part. Did you noticed something like this?

我已经调查了，并没有调整，但最初如果我把它设置为3000转，它设置为3000rpm。现在这个范围在200到1000转/分之间（所以如果我想要达到6500rpm，我必须在启动电机时使用速度斜坡到1000rpm）我不知道这个滑动是如何以及为什么造成的（并且速度反馈也说1000rpm甚至艰难的是6500，它以前工作过）
很抱歉写了这么多帖子！
提前致谢
丹尼尔



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I have investigated, and it is not unadjusted, but the originally if I set it to 3000 rpm, it was set to 3000rpm. Now this range is between 200 and 1000 rpm (so if I want to get  6500rpm I have to use a speed ramp to 1000rpm when starting the motor) I dont know how and why this slip was caused ( and also speed feedback is saying 1000rpm even tough it is 6500, and it worked previously)
Sorry for writing so many posts!
Thanks in advance
Daniel

亲爱的丹尼尔
对不起，我迟到了，因为我刚从商务旅行回到办公室。我研究了你的问题，我在你的fW中理解，参考转子速度没有问题。但实际速度不能跟随它，电流调节器输出是恒定的 - PWM信号的占空比是恒定的。我理解正确吗？如果是，你会告诉我PWM占空比的常数是多少 - 这很奇怪：如果占空比是恒定的，FOC如何将电机旋转到最大速度？据我所知，你提到的PWM占空比是SVPWM的调制指数，是否正确？
让我猜想是的。然后，如果满足以下条件之一，则导致PWM周期恒定：
1.调制指数达到WB中设定的最大值。
2.电流调节器q轴或d轴变为饱和
3.速度调节器变得饱和
如果发生饱和，需要检查
1.如果霍尔传感器的位置和速度反馈是正确的
2.电流电流反馈值与电流探头检测到的实际值相比是否正确？
3.如果WB中设置的调制指数的最大值太小而不能限制MCU的输出？
我希望以上对你有所帮助。
最好的祝福，
王RD



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Dear Daniel
I'm sorry I reply you late for I ve just been back to office from biz trip. I studied your question, and I understood in your fW, there is no issue with reference rotor speed. But actual speed can not follow it, and current regulator output is constant - duty cycle of PWM signal is constant. Am I understanding correct?  If yes, would you let me know how is the constant of PWM duty cycle - It's very strange: if duty cycle is constant, how FOC works to spin the motor to the maximum speed?  To my understanding, PWM duty cycle you mentioned is modulation index for SVPWM, is it correct?
Let me suppose it's yes. Then if one of following conditions is satisfied, it caused PWM cycle be constant:
1. Modulation index reaches the maximum value set in WB.
2. Current regulator q-axis or d-axis becomes saturation
3. Speed regulator becomes saturation
If saturation happens, need to check
1.if position and speed feedback from Hall sensors are correct
2.motor current feedback value is correct compared with actual value detected by current probe?
3.If the maximum value of Modulation index set in WB is too small to limit the output from MCU?
I hope above is helpful for you.
Best regards,
Wang RD