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Topic-icon FOC tuning - need more torque gain scottie

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2 weeks 1 day ago #29534714 by JDB
Hello - I'm testing new 10 pole pair 4.4:1 gear motors (equivalent torque) replacing a pair of 24 pole pair direct drive ones. They run as silky smooth and quiet Sinusoidally as their predecessors. The direct drives were happy with the default FOC settings. The gear motors on the other hand were jumping poles (for lack of a better term) and unable to start moving smoothly from a stop under moderate load until I dialed the flux gains to minimum 0.1 and cranked the torque gains to max 5.0. The cogging or jumping lessened with each incremental change from default gains such that now it starts smoothly with all but my max loading. I ran out of adjustment just a smidge before perfection. Is there any way to override the max on torque gains to nudge them a bit further (or achieve similar effect)? Thx

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2 weeks 1 day ago #29534715 by JDB
I should ad, in case its a clue, applying field weakening (dialing flux gain up to around 3.1 to 3.3 when motor command is above 800 via script) achieves a 14% max RPM increase on the gear motors.

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