如何配置双电机反馈

Ciao Frank
 
 双感应配置不是我们通常测试的配置。
 FW lib。它自己应该准备好支持它。但用户项目（中断等）可能不是，也是WB。在这一刻我无法深入研究，但我可以注意以后的分析。
 作为一般建议，你是对的，有必要为每个传感器定义一个两个中断服务程序，以便与两个传感器一起工作，你可以手动覆盖生成的一个，作为WB生成的指导。
 
 再见
 梁咏琪



以下为原文





Ciao Frank

The dual sensored configuration is not a configuration that we usually test.
The FW lib. it self shall be ready to support it. But the user project (interrupt, etc..) maybe not and also the WB. I can't investigate deeper in this moment but I can take note for later analisys.
As general suggestion, you are right, is necessary to define the two interrupt service routine one for each sensor in order to work with both sensor, you can do it manually overriding the generated one taking as guideline the one generated by the WB.

Ciao
Gigi

嗨吉吉，
 
 
 抱歉长时间的延迟，我正在忙着重新设计整个功率级，因为那些蹩脚的IRS2184驱动器会破坏功率晶体管。现在一切顺利，我可以再次专注于软件。
 
 感谢您的反馈，我将复制您的想法，使用WB为两个传感器创建中断代码并手动合并结果。
 
 我们的伺服应用有两个并联传感器的想法如下：
  - 大厅和编码器都是数字的，因此易于部署，界面简单，无需担心EMI问题
  - 大厅有利于创业，但提供了不切实际的角度。我们在上电时需要瞬时（失速）扭矩，但可以（很快）接受增加的电流消耗。第二个缺点是在低转速或零转速下的低带宽速度反馈，导致强大的齿槽效应和/或需要降低速度控制环路增益。此外，许多电机霍尔系统具有高到非常高的机械公差。在额定负载下，在任一方向旋转标准伺服电机（H4型，1.5kW）时，我们观察到电流消耗差异高达20％。
  - 需要首先参考编码器，但此后提供精确的角度和良好的速度反馈。因此，一旦看到索引通道脉冲，我们立即切换到此传感器。
  - 所有提供绝对和精确转子角度信息的传感器集成起来都比较复杂：旋转变压器涉及低幅度模拟信号，集成数字解决方案成本较高。
 
 问候
 坦率



以下为原文





Hi Gigi,


sorry for the long delay, i was busy redesigning the entire power stage because of that crappy IRS2184 drivers destroying the power transistors. Now everything is smooth, and I can concentrate on software again.

Thanks for your feedback, I will copy your idea to use WB to create the interrupt code for both sensors and manually merge the results.

The idea behind having two sensors in parallel for our servo application is the following:
- both hall and encoder are digital, so easy to deploy, simple interfaces, without having to fear EMI issues
- hall is good for startup but gives unprecise angle. We need instantaneous (stall) torque at power-on, but can (shortly) accept increased current consumption. Second drawback is low bandwidth speed feedback at low or zero rpm, resulting in strong cogging and/or the need for reduced speed control loop gain. Furthermore, many motor hall systems have high to very high mechanical tolerances. We observed as much as 20% difference in current consumption when spinning a standard servo motor (H4 type, 1.5kW) in either direction under nominal load.
- encoder needs to be referenced first but provides exact angle and good speed feedback thereafter. So we switch over to this sensor as soon as we see the index channel pulse.
- all sensors that provide absolute and precise rotor angle information are more complex to integrate: Resolver involves low-amplitude analog signals, integrated digital solutions come at higher cost.

Regards
Frank