MBL1660N Closed loop

3 years 10 months ago - 3 years 10 months ago #29532578 by MathiasM
Setup consisting of a brushless DC motor with hall effect sensor and a roboteq MBL1660.
  • Motor runs fine in open-loop mode
  • Hall effect sensor works properly - tested
  • WVU connected properly ~ runs with just 1 configuration

Motor rotates choppy in closed-loop mode, configuration picture included.
Video in attachment

ChartLog forward closed loop:

File Attachment:

File Name: ChartLogfo...loop.txt
File Size:9 KB


What is wrong with this setup?
Attachments:

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3 years 10 months ago #29532579 by blake
Replied by blake on topic MBL1660N Closed loop
It is likely due to your PID gains. For closed loop speed mode we recommend beginning with PID = 0,1,0 and then tuning from there. The integral (I) gain will be most important for closed loop speed mode and will hold the highest value you. If you need to add any proportional (P) gain it should only be in very smal increments 0.1 at a time. Please read the Closed Loop Speed Mode PID description and instructions on pages 117-118 of our User Manual
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3 years 10 months ago #29532580 by MathiasM
Replied by MathiasM on topic MBL1660N Closed loop
Thank you for the quick reply, will try this new setup asap!

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3 years 10 months ago #29532581 by MathiasM
Replied by MathiasM on topic MBL1660N Closed loop
Tested this new configuration, unfortunately the motor is still rotating choppy (~video first post).
When in open-loop mode at higher RPM I can hear a ticking sound which comes together with a peak in current.

Any clues on the cause?

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3 years 10 months ago #29532582 by blake
Replied by blake on topic MBL1660N Closed loop
Please send me your configuration file (not just an image) as well as another data log with the following points:

Battery Volts
Motor Command
Motor Power
Battery current
Motor current
Hall Speed (RPM)

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3 years 10 months ago #29532583 by blake
Replied by blake on topic MBL1660N Closed loop
Also please tell me which version of firmware is currently on the controller.
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3 years 10 months ago #29532584 by MathiasM
Replied by MathiasM on topic MBL1660N Closed loop
Dear Blake,

Hereby a new test, thanks for your support.
Firmware ID: Roboteq v1.7 MBL1XXX 10/13/2016 [latest]

All requested data is gathered in a ZIP file (included a print-screen of the chartlog for visualisation).

Greetings,
Mathias.
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3 years 10 months ago #29532585 by MathiasM
Replied by MathiasM on topic MBL1660N Closed loop
RESOLVED

Changed some settings and phase sequence. Motor runs smooth now.
Thank you for your support

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