johu wrote: ↑Fri May 27, 2022 4:51 pm
Thanks for the plot. I'm assuming it's with the last firmware 5.23.B?
I don’t know the version number, but it was the firmware before the sqrt fix.
I just tried the newest firmware with the fix. First I wanted to optimize syncofs and syncadv: I started with syncadv = 0. I accelerated normally to various rpms and then switched to idiqsplit = 100. Then I tuned syncofs so that I could push down the gas pedal without creating any torque. This gave me some values from which I calculated syncofs at 0rpm and a suitable syncadv. I ended up with syncadv=3. It’s a bit tricky to maintain constant rpm but in the end it worked quite well, at least for throtcur=1. Going above that led to a very quick acceleration at some critical id value >100A, resulting in a software overcurrent error (that also works
). So I remained at throtcur=1 for the rest of the test.
While doing this I noted that at 100% throttle, the uq amplitude seems to be capped just above 10000. When letting go off the throttle it is able to reach higher values. This was with fkwp=fwki=0 and qmargin = 3000:
I then tested with fwkp=10. There was no uncontrollable acceleration but also no other effect. Ifw reached a maximum value of 1 and oscillated. Below are the plots for fwkp=40. This created some rattle and noise (as can be expected from the id and iq currents oscillating with >100A amplitude). After letting go off the gas pedal, the oscillations stopped but there was some weak self-acceleration. What only came to my mind after the test drive is that ud was nearly maxed out before FW kicked in. Thus, it had a hard time to add even more id. I will try again with lower idiqsplit.