RPM inconsistency from Hall Sensors HBL2360

11 months 3 weeks ago #29535553 by iops425
Hi I have 2 800W BLDC motors. Driven by a HBL2360 as a skid steer robot base.  I want to run the motors with closed loop speed control, but prior to doing this I logged the RPM data. At low RPM the data seams OK but above about 1/4 command input the rpm signal gets very bouncy including massive swings to negative RPM. At high rpm the signal stabilizes again. 
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[/img]


I then decided to check out the Hall sensor signals. I went through a complete setup where I first tested the hall signals using an independent 5V source and 3.3k pullups, rotating the motors by hand I got clean hall signals with crisp transitions and checked I also checked the phase voltages to ensure I had the correct hall sensor map; all was good. I then checked the hall signals when the motor was running at very low speed ~ 10% and the hall signals have lots of noise. I assumed this was noise from the motor power leads, but I have separated the hall and phase input leads and shielded all using shielding tape. The signals are still the same. I tried to locate the source for the noise, and one thing that surprised me was that with the roboteq off the noise on voltage supply (48V nominal) had a noise of about 1-3mV RMS (probably just ambient noise through sensing leads) yet as soon as I turned on the controller (open loop) the noise jumped to over 100mV and higher RMS without a motor running or anything. I disconnected all other DC DC converters etc; So its like the controller itself is injecting fairly high common mode noise into the system??? Is this normal and how can I filter it out so its doesn't effect all the other systems on same power bus? Further more how do I clean up the hall signals, should I add another external RC filter on the Hall inputs, if so how is this done without creating an earth loop? Other wise can I ignore it altogether and implement the speed control (system smart enough to ignore impossible values or uses smoothed RPM signal) or will the momentary negative RPM values suddenly reverse the power in phases damaging the system??


 

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11 months 3 weeks ago #29535554 by iops425
Sorry I inserted image incorrectly here it is as an attachment.  
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