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Hi,
I seem to have a problem with running BLDC motor using HALL sensors on SOLO BETA. Please note that I have not yet tried sensorless mode.
I followed this tutorial video: https://www.youtube.com/watch?v=Sy34m_ZYBeY
These are the steps that I did and I have attached pictures relating to those steps.
Step 1: Checked that the HALL sensor is connected with SOLO BETA correctly then removed USB connection to disconnect the SOLO board before step 2.
Step 2: Pushed the Piano switch for the closed loop into down position. The motor vibrated for a second or so and then spun freely as soon as it finished identification.
Step 3: I connected the SOLO board to motion terminal and did the motor identification from SOLO motion terminal. Same behaviour observed again.
Step 4: Did the HALL sensor calibration from motion terminal. The motor spun clockwise during this step, i.e. same as seen on the instruction video.
Step 5: Torque Reference_Iq set to 2A. The motor shaft did not spin. The shaft did not spin even when increasing current demand to 5A. When I increased it to 10A I heard high pitch screeching noise from the motor. So, I decreased it to 0A.
Step 6: I started performance monitoring and then set torque reference to 2A. As you can see in the picture, current input was 2A. However, the shaft was not spinning. When I turned the shaft by hand, I felt opposing force (due to current input into the motor). It seems that even though the motor shaft was physically rotated by hand, the Angle and RPM didn't change in the monitoring window.
If you have some suggestion of how can I make it work, please let me know as I have spent hours trying to get it working but failed so far.
Thanks very much!
Please note that Step 3 screenshot should be referred for Step 4 atually. Thanks.
Hi @hitesh,
Have you tried all the 6 combinations of the wirings of the Motor to SOLO like the video mentioned above? ( all the combinations should be tested in Torque and then speed mode to find the best ones)
it seems to me that the reason that your motor doesn't move in Torque mode is the fact that the motor wirings to A, B,C connection of SOLO is not correct, please make a lookup table like the one shown in the video and analyze all the 6 wiring combinations for the Motor wirings connection to SOLO's A,B,C outputs.
Let me know about the progress or other issues you might face.
Milad
If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.
Hi Milad,
Yes I had run through all those 6 combinations of phase wires and this (2nd row in the picture) was the one that worked fine. I tried the same thing again and funny enough, the controller worked! I could do the speed control now. Out of the three that worked, I found the last row (PHASE A - YEL, PHASE B - RED, PHASE C - BLK) resulted into the best performance.
Following that, unfortunately, I have stumbled upon another problem now. Position control doesn't seem to work. Looking at the green curve on the plot, it seems like it's looking at one of the HALL sensor input for Quad pulses. Quad pulses keeps going up and down when I demand 10000. Anything lower than 10000 simply didn't spin the motor at all but when I provided 10000 as demanded position, the motor kept spinning and you could see the quad pulses going up and down and not increase in one direction.
Do you have suggestion for resolving this new problem please?
Thanks very much for your help.
Regards,
Hitesh
@hitesh good job.
Following that, unfortunately, I have stumbled upon another problem now. Position control doesn't seem to work. Looking at the green curve on the plot, it seems like it's looking at one of the HALL sensor input for Quad pulses. Quad pulses keeps going up and down when I demand 10000. Anything lower than 10000 simply didn't spin the motor at all but when I provided 10000 as demanded position, the motor kept spinning and you could see the quad pulses going up and down and not increase in one direction.
What gains are you choosing for your Position controller Kp and ki ?
in principle the gains of the position controller in Hall mode are usually much higher than Encoder mode, I'd recommend choosing the following gains and seeing how the system works:
Speed controller kp:0.2
Speed controller ki:0.005
Position controller kp:20.0
Position controller ki:0.5
Regards
Milad
If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.
Thanks very much for your suggestions. I will try those gains for position controller. My controller gains are
Speed controller kp: 0.15
Speed controller ki: 0.005
Position controller kp: 0.01
Position controller ki: 0.001
I will try these gains and let you know in a few minutes.
Thanks,
Hitesh
Hi @milad,
I've put position gains, Kp = 10 and Ki = 0.5. The problem I'm getting is still the same. The motor keeps spinning (in one direction) and it doesn't stop. If you notice, the quad pulses never go above 4 for some reason. It's counted as 0,1,2,3,4,0,1,2,...and so on. There seems to be issue with counting quad pulses. Just FYI, the only sensor input I have is HALL sensor (A, B, C).
Do you have any suggestion on how can I get the SOLO to complete the position controller loop? I was thinking of getting around the problem by completing the position controller loop within Arduino but it would be better if this is done in SOLO itself.
Thanks,
Hitesh
I guess the firmware version you are having on your SOLO BETA model is not featuring the position controlling enabled for Hall sensors, to get that firmware please send us an email and our software team will get in touch.
regards
Milad
If you found the answers helpful and you could solve your problems, please kindly verify here to help others in the future.
Hi Milad,
Thanks very much for helping me out. With the latest firmware, I am now able to do position control of the motor that I have using hall sensor. I will try and grab some screens next time I have a play on it - couple of days.
Thanks very much again!
Hi,
I've come back to SOLO again. I have noticed that the motion terminal has changed in some places, my firmware is out of date and, most importantly, my motor (with hall sensors) doesn't calibrate any more. It's getting time out error! Please could you help me with this again?
Thanks,
Hitesh
