Motor won't turn in closed loop FOC with using MC Control SDK and hall sensor

[AnthonyK]

Hello,

I am trying to run a BLDC motor using the MC control SDK. The BLDC motor is the following: BLDC 40P30F
16P2.063D by MinebeaMitsumi. First, I entered its parameters in MC Workbench + made the profiling for its mechanical parameters, however this step didn't went as expected since I cannot run the motor in full speed, the MC Pilot gives me speed feedback error.

Anyway, I was able also to get the electrical angle offset using the oscilloscope (you can find the picture attached) (which is 120 degree). In addition, I tried to run the motor in Voltage and Current open loop as per the manual. I was able to run it without major problem.
However, when I want to run it in closed loop using the hall sensors, the motor won't turn smoothly. It starts to do a back and forth movement. I tried to tune the PI of the speed control however nothing is changing. + I monitored the hall effect sensor through oscilloscope when I command the motor to run, there are is no noise affecting the hall effect. What could be the issue then?

 

PS: I am using the latest version of the MC Workbench Version 6.3.2

 

I appreciate your support.

 

Sincerly,

 

Anthony

 

[STUser34]

Electrical angle offset how it is 120Degrees. From the rising edge of the Yello Hall signal to the peak of back emf it is around 180 + 60 (i assume) it shall be around 240. Please check.

[AnthonyK]

Thank you for your reply. I followed this topic: Solved: Is this a 120 or 60 deg displacement angle hall mo... - STMicroelectronics Community that's why I thought it is 120 degrees. In the manual it is written as you have said in your post. I tried with 240 degree it is better but the speed is always constant at 1000RPM however the setpoint is 5000 RPM + the motor sometimes runs and sometimes it blocks or sometimes it runs clock wise and sometimes counter clockwise for the same setpoint

[STUser34]

I am sorry it is my mistake i got confused 

I was referring to the placement electrical angle, the sensors displacement is 120 which is correct which you have entered.

[AnthonyK]

Well, the current control loop is ok (I tuned using Open Loop Current). But when I get to the speed, this where the things are strange. I have attached the evolution of the elecrical angle when I turn the motor by hand (few degrees) and that's what I obtain. It is kind of weird no? The angle is always between 150 and -150 degrees? is it normal?

 

 

[GMA]

Hello @AnthonyK,

Using Motor Workbench 6.3.2, you can take the advantage of Hall Sensor Motor Profiler.
Refer to User Manual documentation available through "Workbench tool">About>Documentations>Documentation>"User manual" tab>"Motor Profiler Application Note" link for more detail.

[AnthonyK]

Well I tried several times with that and everytime I get Speed feedback error; I tried to tune the C2 gain as recommended and it is not working. In addition, in the rev-up table, I cannot set anything the values keep on going back to zero I dont know why. It is really frustating. I was able to run without profiler using sensorless mode, but when I am doing a profiling, when I get to 28% the motor stalls and makes weird noise

[AnthonyK]

Good Morning,

 

Just for updates, I was able to run the profiler for the hall sensors and it worked. The FOC now with Hall effect sensors is running but the weird thing is that I needed to switch hall sensors H1 and H2 (I knew because of the profiling, it gave an information to swap H1 and H2) and by doing so I got 0 degree as offset. however, I looked into the  oscilloscope, the signals are not coherent with the theory. I don't know why it works by swapping both signals. +  When I looked on the induced emf when I turn the motor by hand in CCW (as mentioned in the pdf), I have the right phases between phase A, B,C (which is a positive sequence). However, it seems when I command the motor via Motor Pilot, the rotor turns CW.