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# (c)opyright 2013, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.21 #
# experimental, use at your own risk #
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a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
i) Field Oriented Control
z) store parameters in EEPROM for motor use
------> a
a] number of e-rotations: 92
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> b
a] number of back-emf samples: 1200
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu
------> c
a) PWM frequency: 15kHz
b) deadtime: 533ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu
------> d
a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 219.9 A
d) maximum battery current, motor use: 174.9 A
e) maximum battery current, regen: 0.0 A
f) maximum shutdown error current, fixed: 19.9 A
g) maximum shutdown error current, proportional: 19.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 5
j) use additional comb filter: NO
k) use offset calibration: NO
l) restore default calibration
z) return to main menu
------> e
a) loop sample frequency: 28.51 kHz
b) proportional phase loop coefficient: 350
c) 1st order phase loop integrator coefficient: 23.0000
d) 2nd order phase loop integrator coefficient: 0.0099
e) proportionale amplitude loop coefficient: 75
f) 1st order amplitude loop integrator coefficient: 2.0000
g) maximum amplitude: 111 %
z) return to main menu
------> f
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 0.0998, 0.3798, 0.5197
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: PUSH START
c} e-rpm limit sensorless self start: 574 erpm
d} minimum current push start: 0.9 A
e} push start current, error allowed: 65 %
f] erpm sensored to sensorless transition: 150
g] transition time sensored to sensorless: 149 milli-sec
h) return to motor start below 400 erpm
i) controlled slowdown for direction change: NO
j) phase current for controlled slowdown: 0.0 A
k) motor maximum, forward: 199.98 k-erpm
l) motor maximum, reverse: 3.99 k-erpm
m) motor standstill voltage threshold: 0.79 V
n) enable low side pulsing in drive 0: NO
o) low side pulsing rate: 52 Hz
p) low side pulsing width: 20 usec
z) return to main menu
------> h
a) CAN 'address': 1
b) CAN CFG1 as per Microchip 30F manual: 0
c) CAN CFG2 as per Microchip 30F manual: 0
RS232 output rate: 3564 Hz
z) return to main menu
------> i
a) use Field Oriented Control: YES
Before automatic measurement of the motor parameters
the controller must be supplied with the same voltage
as in the vehicle. PWM frequency and deadtime must be
initialised. ADC's must be properly set up and calibrated
or calibration must have been restored to default.
The following parameters must be set at their final value:
loop sample frequency: 28.51 kHz
current sensor transimpedance: 10.00 mV/A
b) amplitude measurement current: 49.9 A
c) impedance measurement frequency: 29.99 k-erpm
d) determine motor impedance
e) battery voltage (for impedance display only): 95 V
measured inductance (star configuration): 133.6 uH
total system 'resistance' (star configuration): 93.3 mOhm
z) return to main menu
