bexander wrote: ↑Fri Jan 13, 2023 11:29 am
Have been out test driving and tuning.
First I tuned Ki down and also Kp up to end up at Kp 700 and Ki 1200. Feels much better but the oscillation is still there.
Decided to try the Ki/Kp tuning procedure,
viewtopic.php?p=45512#p45512.
The result I ended up with was Kp 700 and Ki 1000-2000. So the procedure seem to work well.
Set Kp 700 and Ki 1000 and made another test drive. Drives ok, the oscillation is still there but much less pronounced. A large log from the entire test drive adn also latest parameters.
log 11.csv
Yaris_MGR_FW5_24_2023-01-13.json
Had a quick look at this, the numbers seem slightly lower than last time.
Over the whole run it comes out at Lq=5.25mH, Ld=1.54mH and flux link - 89mWb
Over a shorter section it comes out at Lq=4.95mH, Ld=1.44mH and flux link - 88mWb
Not really a big enough difference to worry about but would like to understand it. The battery voltage is a little lower but not that much. It's possible the changed parameters could have had an effect? Is there anything else that changed?
Ev8 wrote: ↑Fri Jan 13, 2023 6:14 pm
Sure, i think my low ki may be helping the 2 controllers not fight each other so hard, as lowering it defiantly smooths out and makes quieter a noisy torque oscillation
Thanks for the files will have a look. I think you're right about the two coupled motors being the reason for the low ki.
(and sorry for the thread spamming!)