STM32F4DISCOVERY和STM32 PMSM FOC SDK可能存在的局限性或问题？

再见
 
 
 如果有可能，我建议使用WB提供的“开箱即用”STM324xG-EVAL，并提供专用配置和示例。
 无论如何，您可以尝试使用STM32F4DISCOVERY并手动配置该板的WB项目。
 您需要通过电缆与标准电源板创建接口，因为DISCOVERY没有MC连接器32针，您必须验证安装在DISCOVERY上的微控制器是否具有所需的驱动器所需的引脚（双驱动等）。要验证所需的引脚是否存在，您可以使用WB作为配置器，使用STM32F4创建一个通用项目并在Control Stage中验证 - ＆gt;数字输出和模拟输入（如果存在任何有效引脚）。
 啊......你还要仔细检查CPU频率和外部振荡器，因为WB + FW只支持STM32xG-EVAL的配置。
 
 再见
 梁咏琪



以下为原文





Ciao


If it is possible I suggest to use the STM324xG-EVAL that is supported ''out-of-the-box'' from the WB with dedicated configuration and example.
Anyhow you can try with the STM32F4DISCOVERY and manually configure the WB project for that board.
You ave to create an interface by wire with the standard power boards because the DISCOVERY doesn't have the MC connector 32-pins and you have to verify that the microcontroller that is mounted on the DISCOVERY have the required pins for the drive that you need (Dual drive and so on). To verify that the pin required is present you can use the WB as configurator, create a generic project with STM32F4 and verify in the Control Stage-> Digital outputs and Analog input if any alowed pins is present.
Ah... you have also to double check the CPU frequency and the external oscillator because only the configuration of the STM32xG-EVAL is supported by the WB+FW.

Ciao
Gigi

我在目录中看到的所有电源板都工作在高于6V的电压......因此它们不适合我的应用....而且据我所知，没有St电源板的Eval具有相同的功能发现。



以下为原文




All the power board that I saw into the catalog work at a voltage higher than 6V... So they are not good for my application.... And for what I understand an Eval without a St power board has the same capability of a Discovery.

Ciao Alex
 
 
 1）MP与STM324xG-EVAL以及基于STM32F3或STM32F4的任何电路板配合使用。但只有在选择支持的电源板时才能在WB中启用MP。这是因为MP程序需要一种校准因子，该校准因子考虑了一些寄生效应，以便获得良好的电机参数估计。如果您使用自定义电源板，唯一的解决方法是从支持的电源板开始，并根据您的电路板修改参数（无论如何，您应该在电机参数中有一些错误，主要是Rs和Ls，如果这个错误很重要， Rs低于1欧姆且Ls低于1mH）
 
 2）MP能够设置Drive Mng的任何参数 - ＆gt;速度/位置fb mng
 
 3）我不明白这一点。一些控制板嵌入了STLink，其他没有它，你需要一个外部控制板。电源板不需要STLink。
 
 4）是的你是对的。实际上，带STM32F4的双驱动板是STEVAL-IHM039。如果您想考虑STM32F3，STM32303E-EVAL已准备好进行双驱动。
 
 再见
 梁咏琪



以下为原文





Ciao Alex


1) The MP works with STM324xG-EVAL and on any board that is based on STM32F3 or STM32F4. But the MP can be enabled in the WB only if you select a supported power board. This because the MP procedure requires a sort of calibration fator that take in consideration some parasitic effects in order to achive a good estimation of motor parameters. The only work around if you use you custom power board is to start with a supported power board and modify the parameters according of your board (anyhow you should have some error in the motor parameter, mainly Rs and Ls, and this error is significant if the Rs is below 1 Ohm and Ls is below 1mH)

2) The MP is able to set any parameters of Drive Mng -> Speed/Position fb mng

3) I don't catch the point. Some of the control board have the STLink embedded, other do not have it and you need an external one. Power board do not require STLink.
   
4) Yes you are right. Indeed the dual drive board with STM32F4 is the STEVAL-IHM039. If you want to consider the STM32F3 the STM32303E-EVAL is ready for dual drive.

Ciao
Gigi

谢谢Gigi。
 
 
其实我想用一个或多个数码相机接口，似乎就是这样
STM32F303VE不支持它，我不会使用多MCU配置。
 
我要驾驶的BLDC电机是Maxon 423511
标称电压6
温度电阻阶段到相位16.7欧姆（似乎没问题）
热电感相位相位0.0668 mH（不行）
 
为了使用WB设置控制器的所有参数（速度/扭矩），您是否有建议使用此电机的电源板？
 
我的想法是，我将使用STM324xG-EVAL + ST电源板（如果有一些符合我的电机）只设置一个电机（因为两个电机相等），之后我将使用Discovery板来驱动两个电机电机（我不能使用MEMS但是谁在乎！）最后我将设计我的定制PCB。
 
可以直接和你说话吗？
这是我的电子邮件：Alessandro.Buscicchio@jpl.nasa.gov
请给我发电子邮件
 
非常感谢您的支持！！！



以下为原文





Thank you Gigi.


Actually I would like to interface also with one or more digital camera, it seems that the   
STM32F303VE doesn't support it, and I wouldn't use a multi MCU configuration.

The BLDC motor that I am going to drive is a Maxon 423511  
Nominal Voltage 6
Therminal Resistance phase to phase 16.7 Ohm (seems ok)
Therminal Inductance phase to phase 0.0668 mH (NOT ok)

Do you have any power board to suggest for this motor in order to setup all the parameters of the controller (speed/torque) with WB?

My Idea is that I will use the STM324xG-EVAL plus ST power board(if there is some compliant with my motor) to setup only one motor (since the two motor are equals), after that I will use the Discovery board to drive both the motors (I can't use MEMS but who cares!) and at the end I will design my custom PCB.

Is it possible to speak directly with you?
This is my email: Alessandro.Buscicchio@jpl.nasa.gov
Please send me an email there

Thank you very much for your support!!!

你好，我们又见面了。
 
 
我买了一台StmF4Discovery板并设计了我的定制电源板。
我被困在这一点上。我无法通过Keil使用固件刷新发现板。我想我没有正确配置程序员。我选择ST-LINK / V2作为调试适配器，但在闪烁时我收到此错误Flash下载失败''Cortex-M4''。
 
我究竟做错了什么？



以下为原文





Hi again.


I have bought a StmF4Discovery board and designed my custom power board.
I'm stuck at this point. I am not able to flash the discovery board with the firmware through Keil. I think I don't configure correctly the programmer. I chose ST-LINK/V2 as Debug Adapter but while flashing I receive this error Flash Download failed ''Cortex-M4''.

What am I doing wrong?

Ciao Alessandro
 
 
 这不是与电机控制固件或软件严格相关的问题。
 
 我建议在下面试试
 
STM32
 
https://my.st.com//public/STe2ecommunities/mcu/Lists/cortex_mx_stm32
STM32评估工具
 
https://my.st.com//public/STe2ecommunities/mcu/Lists/STM32Discovery
 再见
 梁咏琪
 
 
 注意：原始帖子包含大量线程对话，只能迁移到第9级



以下为原文





Ciao Alessandro


This isn't a question strictly related to motor control firmware or software.

I suggest to try here below

STM32

https://my.st.com//public/STe2ecommunities/mcu/Lists/cortex_mx_stm32
STM32 Evaluation Tools

https://my.st.com//public/STe2ecommunities/mcu/Lists/STM32Discovery
Ciao
Gigi

  
Note: the original post contained a large number of threaded conversations and was only able to be migrated to the 9th level

嗨吉吉。
 
 
 
谢谢您的回答。我能够正确编程电路板，现在我需要一些建议才能正确设置电机控制工作台。
 
 
我的电机有以下参数：
传感器（霍尔传感器）EC电机实习生PMSM：
标称电压6V
极对1
最大。申请速度100000
Nom Current 0.51A
3.49欧元
Ld 0.03 mH
B-Emf常数0.1 V / Krpm
 
 
我正在使用定制电源板，允许系统使用单个或三个分流电阻进行电流检测。我想分别在感应和无传感器配置中运行电机。您能否建议我使用一些启动参数以使电机正常运行？此时我不需要达到最佳性能/稳健性。我只需要能够以大约15000转/分的固定速度运行电机。
 
 
谢谢，
亚历克斯



以下为原文





Hi Gigi.



Thank you for your answer. I'm able to program correctly the board and now I need some advice in order to set up correctly the Motor Control Workbench.


My motor has the following parameters:
Sensored (Hall sensors) EC motor Intern PMSM:
Nominal Voltage 6V
Pole Pairs 1
Max. appl. speed 100000
Nom Current 0.51A
Rs 3.49 Ohm
Ld 0.03 mH
B-Emf Constant 0.1 V/Krpm


I'm using a custom power board that allows the system to use either single or three shunt resistances for current sensing. I'd like to run the motor in both sensored and sensorless configuration separately. Could you suggest me some starting parameters that I can use in order to get the motor run correctly? I don't need to achieve best performance/robustness at this point. I only need to be able to run the motor at a fixed speed around 15000 rpm.


Thank you,
Alex

Ciao Alex
 
 
 由于低电感和更高的速度，这项任务非常艰巨。
 
 Les说我建议使用大于30kHz且重复率为1的PWM频率
 当前带宽6000 rad / s
 验证BEMF为10.000 rpm的最低速度
 全电流加速度为0.51，根据负载斜坡。以每秒1kRP开始，然后如果跟随减少时间。
 我没有其他特别的建议。
 
 再见
 梁咏琪



以下为原文





Ciao Alex


The task is quite hard due to low inductance and higher speed.

Les's say that I suggest to work with PWM freq greater than 30kHz and rep rate 1
Current bandwidth 6000 rad/s
Minimum speed to validate the BEMF of 10.000 rpm
Acceleration with full current 0.51 and ramp according to the load. start with 1kRP per second and then if it follow reduce the time.
I have no other particular suggestion.

Ciao
Gigi

Ciao Gigi
 
 
实际上我遇到了问题，我收到这个错误''最大结果调制指数被钳制到最小允许值（81％）''。当我将PWM设置为高于20kHz时，我收到此错误。
 
有什么建议么？



以下为原文





Ciao Gigi.


Actually I'm having a problem, I receive this error ''Maximum resulting modulation index clamped to minimum allowed (81%)''. I receive this error when I set a PWM higher than 20kHz.

Any suggestions?

嗨吉吉
 
 
在使用无传感器算法之前，我试图通过霍尔传感器使电机正常运行。传感器应该没有问题，但事实并非如此。所以我尝试手动更改PID增益，现在可以正常工作。
 
PID增益：
kp 45
Ki 15
 
智商：
全部246（按10倍缩放为默认值）
 
我仍然存在最大PWM频率的问题，并且我无法以低于20000 rpm的速度运行电机。在20000-600000之间它运作良好。
 
在转向无传感器控制之前，您能帮助我更好地调整这些参数吗？
 
感恩教堂
 
亚历克斯



以下为原文





Hi Gigi


Before using the sensorless algorithm I'm trying to get the motor running properly with hall sensors. It should work without problem with the sensors but it doesn't. So I tried to manually change the PID Gains and it works now.

PID Gains:
kp 45
Ki 15

Iq:
All 246 (scaled by a factor of 10 respect the default value)

I've still the problem of the maximum PWM frequency and I'm not able to run the motor at a velocity lower than 20000 rpm. Between 20000-600000 it works pretty well.

Can you help me tuning better these parameters before moving to the sensorless control?

Grazie

Alex

Ciao Alex
 
 
 实际上可用于控制的最大总线电压的最大调制指数取决于采样时间和功率级参数中存在的噪声参数（TNoise，TRise）。您可以尝试降低这些值。
 
 也许您可以看看用于无人机螺旋桨马达的示例P-NUCLEO-BullRunning。
 
 再见
 梁咏琪



以下为原文





Ciao Alex


The maximum modulation index that pratically is the maximum BUS voltage available for the control depends on Sampling Time, and noise parameters (TNoise, TRise) present in power stage parametes. You can try deceasing these values.

Maybe you can take a look to the example P-NUCLEO-BullRunning that is for a drone propeller motor.

Ciao
Gigi

Ciao Alex
 
 
 我从这些数据中看到的唯一一点就是你设置的PI系数非常低。您可以尝试增加分子可以有更大的值和更好的分辨率。
 
 再见
 梁咏琪



以下为原文





Ciao Alex


The only thing that I can see from these data is that the PI coefficient that you set are very low. You can try to increase the  so the numerator can have bigger values and better resolution.

Ciao
Gigi

嗨吉吉。
 
 
谢谢你的建议。
 
我可以在两种配置（感应和无传感器）中运行单个电机而没有任何问题。但我对双配置有两个问题（同时有两个电机）。会发生的是，在双重配置中，我能够单独驱动电机（一次一个），但当我试图一起运行时，系统停止工作并出现故障状态。
 
您对如何解决此问题有任何建议吗？我认为为了让它们同时运行，我需要更改一些配置参数。
 
实际上我正在使用45kHz的PWM，0.5ms的电流环和1的分流电阻。
 
亚历克斯



以下为原文





Hi Gigi.


Thank you for your suggestions.

I'm able to run a single motor in both the configurations (Sensored and Sensorless) without any problems. But I've some problem with the dual configuration (two motors at the same time). What happens is that, in dual configuration, I'm able to separately drive the motors (one at time), but when I try to get running together the system stop working and the fault status appears.

Do you have any suggestions about how to fix this problem? I think that in order to make them running at the same time I need to change some configuration parameter.

Actually I'm working with a PWM of 45kHz, current loop of 0.5ms and rate 1, three shunt resistances.

Alex

嗨吉吉。
 
 
我已经尝试将执行速率提高到2或3个PWM周期，正如您在这篇旧帖子中建议的那样：
 
https://my.st.com/public/STe2ecommunities/motordriver_ics/Lists/Motor%20Control%20Firmware%20and%20Software/Flat.aspx?RootFolder=https%3a%2f%2fmy%2est%2ecom%2fpublic%2fSTe2ecommunities% 2fmotordriver_ics％2fLists％2fMotor％20Control％20Firmware％20于是％20Software％2fFOC％20SDK％203％2E4％20with％20STM32F303CB＆安培; FolderCTID = 0x01200200770978C69A1141439FE559EB459D758000CE106710FFA6574FB92BFFEFCE2DD930＆安培; currentviews = 227
 
执行速率PWM周期高于2（不改变其他参数）电机一起启动但不稳定，我收到错误“速度反馈”或“启动失败”。我得到同样的消息，同时只驱动一个电机。
 
知道如何解决这个问题吗？因为奇怪的是，执行速率为1个PWM周期，它可以工作，而2个则没有。
 
再次感谢你的帮助。
 
亚历克斯。



以下为原文





Hi Gigi.


I've tried to increase the  execution rate to 2 or 3 PWM period, as you suggested into this old post:

https://my.st.com/public/STe2ecommunities/motordriver_ics/Lists/Motor%20Control%20Firmware%20and%20Software/Flat.aspx?RootFolder=https%3a%2f%2fmy%2est%2ecom%2fpublic%2fSTe2ecommunities%2fmotordriver_ics%2fLists%2fMotor%20Control%20Firmware%20and%20Software%2fFOC%20SDK%203%2e4%20with%20STM32F303CB&FolderCTID=0x01200200770978C69A1141439FE559EB459D758000CE106710FFA6574FB92BFFEFCE2DD930¤tviews=227

With execution rate PWM period higher than 2 (without changing the other parameters) the motors start up together but they don't stabilize, I receive the error ''Speed feedback'' or ''Start-Up Failure''. I get the same message also driving only one motor at time.

Any idea how to fix this? Because it's strange that with execution rate 1 PWM period it works and with 2 it doesn't.

Thank you again for your help.

Alex.

Ciao Gigi
 
 
我仍然无法以双配置运行电机。
你可以帮我吗？



以下为原文





Ciao Gigi.


I am still not able to run the motors in dual configuration.
Can you help me?

嗨吉吉。
 
 
我可以用霍尔传感器驱动两种配置的电机。如果我切换到DUAL无传感器，它只能工作如果我一次运行一个电机。
你有什么建议吗？



以下为原文





Hi Gigi.


I'm able to drive both the motor in dual configuration with hall sensors. If I switch to DUAL sensorless it works only If i run one motor at time.
Do you have any suggestion about that?

嗨吉吉，
 
 
 关于STM3240G-eval你能否确认一些与MP开箱即用的主板？谢谢。



以下为原文





Hi Gigi,


In reference to the STM3240G-eval can you please confirm some of the boards that are compatible out of the box with the MP? Thank you.

Ciao Jack，
 
 请不要重复你的问题，谢谢
 
 看我的回答/ f60eafe7
 
 
 再见
 梁咏琪



以下为原文





Ciao Jack,

please don't duplicate your questions, thank

See my answer /f60eafe7


Ciao
Gigi

主要  是看你使用在什么地方了，一般性能是够的