Note
Large single side loads during the routine (such as the gravitational load) can lead to lower detection
accuracy with Offset Detection method 0 and 1.
Note
The precision of the commutation angle offset detection depends on the resolution of the encoder that
is used. For example, if HALL sensors with a resolution equal to 60 degrees are used, the precision of
commutation angle offset detection is expected to be 60 degrees as well.
3.1.3.5.4 Autophasing methods
Three different methods for finding the “commutation angle offset” are implemented. The method can be
selected manually (in subitem 0x2009:3). The optimal method is determined by the setup and the use case.
3.1.3.5.4.1 Method 0:
Method 0 is the option used by default. This algorithm has the following characteristics:
It needs no tuning
It is able to hold the load
The offset can be precisely measured
It will rotate the rotor up to 100% of a pole-pair range
3.1.3.5.4.2 Method 1:
Attention
This method is still in prototype phase and can be tested at the user’s own risk.
This algorithm has the following characteristics:
It needs previous tuning of the controller with a dedicated set of gains: the phasing controller whose
parameters are located in object 0x2009
The offset can be found with a limited movement range. With a well tuned PID controller the movement is
typically less than 5 degrees
The offset can be measured very precisely
To Next Page
Loading...
Need help?
General
