STM32 MotorControl Workbench
最近调试电机,启动20次,会出现一次,开环转闭环时候,MotorControl Workbench软件Measured Speed突然跳到0,是什么情况 最好配上截图,才能帮你分析,如果电机没有出现异常可能是显示的问题 子曰好人 发表于 2018-10-23 14:59最好配上截图,才能帮你分析,如果电机没有出现异常可能是显示的问题
电机也会出现异常,电机启动时,转到280转的时候,速度突然就降下来,感觉后劲不足似的,冲不上去了 本帖最后由 johnsonzhuang 于 2018-10-24 11:44 编辑
子曰好人 发表于 2018-10-23 14:59
最好配上截图,才能帮你分析,如果电机没有出现异常可能是显示的问题
C:\Users\Johnson\Desktop\捕获2.PNG johnsonzhuang 发表于 2018-10-24 11:42
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
johnsonzhuang 发表于 2018-10-24 11:36
电机也会出现异常,电机启动时,转到280转的时候,速度突然就降下来,感觉后劲不足似的,冲不上去了 ...
那应该是切入闭环时观测器的角度和虚拟速度传感器的角度不一致,角度不对就没有力,切入后观测器的角度突变速度会跳到0值 子曰好人 发表于 2018-10-24 13:56
那应该是切入闭环时观测器的角度和虚拟速度传感器的角度不一致,角度不对就没有力,切入后观测器的角度突 ...
请问是改这里吗?是改小还是改大?
johnsonzhuang 发表于 2018-11-2 11:46
请问是改这里吗?是改小还是改大?
你这不是默认生成的界面吧,有些东西不知道更改后的结果不建议修改,按照默认的来,我看了我生成的代码,那个variance threshold的值是10,不使用manual editing enabled 子曰好人 发表于 2018-11-2 12:03
你这不是默认生成的界面吧,有些东西不知道更改后的结果不建议修改,按照默认的来,我看了我生成的代码, ...
是的,原先是默认的,后来以为是改这边的观察,所以改的,那你说的观测器角度具体是在哪改的? johnsonzhuang 发表于 2018-11-2 16:08
是的,原先是默认的,后来以为是改这边的观察,所以改的,那你说的观测器角度具体是在哪改的? ...
对了,你推荐的那本《算法心得:高效算法的奥秘》,现在还有卖吗?
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