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    Marian Omnibus
    @rabrabar
    no comp with this name..
    Nico Stute
    @crinq
    link enc_fb0
    fb_switch0.mot_pos = enc_fb0.ipos
    Marian Omnibus
    @rabrabar
    wow!
    the red graph should wrap around after one revolution?
    Nico Stute
    @crinq
    yes
    arsenixprime
    @arsenixprime
    Are there any lower voltage variants of stmbl that are still active/supported? I have seen OtterControl, and mention of a 160V version in the history here. I'm doing a conversion which is only 90v. The full stmbl seems like overkill for this use (especially considering availability of various parts is limited).
    John Dammeyer
    @jcdammeyer
    It's not really overkill. The STMBL is a really nice open source servo drive. Even if your motor is only 90V the higher voltage rating won't make any difference. Now if you had a 48V motor then there are other options perhaps but go above about 80V and the STBML is one of the more interesting choices.
    arsenixprime
    @arsenixprime
    this matches my observations! thank you! just have to build or find one then
    boerderpatrol
    @boerderpatrol
    Is the second feedback connector for outputting the servos position from the servo direct to whatever controller one is using ? Providing real time feedback?
    Nico Stute
    @crinq
    it's for dual feedback systems
    e.g. hall + encoder or encoder + glass scale or encoder + torque sensor
    if you write software you can use it to send information to the controller
    hello110300509
    @hello110300509
    what kind of algorithm is used for the pos_filter in stmbl
    hello110300509
    @hello110300509

    float pos_error = minus(PIN(pos_in), PIN(pos_out));
    float vel_error = PIN(vel_in) - PIN(vel_out);

    if(PIN(en) > 0.0){
    PIN(acc_out) = kp pos_error + ki vel_error;
    PIN(vel_out) += period PIN(acc_out);
    PIN(pos_out) = mod(PIN(pos_out) + period
    PIN(vel_out));
    }
    else{

    Nico Stute
    @crinq
    look at the velocity observer published by onno krah
    hello110300509
    @hello110300509
    thanks

    J. Holtz, M. Höltgen and J. O. Krah, "A Space Vector Modulator for the High-Switching Frequency Control of Three-Level SiC Inverters," in IEEE Transactions on Power Electronics, vol. 29, no. 5, pp. 2618-2626, May 2014.
    doi: 10.1109/TPEL.2013.2280768
    keywords: {Vectors;Switches;Switching frequency;Inverters;Pulse width modulation;Electric potential;Field-programmable gate array (FPGA);high-switching frequency;low-voltage three-level inverters;silicon carbide;three-level space vector modulation},
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6589196&isnumber=6709815

    J. -. Krah and J. Holtz, "High-performance current regulation and efficient PWM implementation for low-inductance servo motors," in IEEE Transactions on Industry Applications, vol. 35, no. 5, pp. 1039-1049, Sept.-Oct. 1999.
    doi: 10.1109/28.793364
    keywords: {Pulse width modulation;Current control;Switching frequency;Microcontrollers;Space vector pulse width modulation;Regulators;Control system synthesis;Thermal degradation;Modulation coding;Decision making},
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=793364&isnumber=17214

    J. -. Krah and J. Holtz, "Total compensation of line-side switching harmonics in converter-fed AC locomotives," in IEEE Transactions on Industry Applications, vol. 31, no. 6, pp. 1264-1273, Nov.-Dec. 1995.
    doi: 10.1109/28.475696
    keywords: {Power harmonic filters;Active filters;Pulse width modulation;Pulse width modulation converters;Power system harmonics;Electromagnetic interference;Counting circuits;Low pass filters;Inductance;Switching frequency},
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=475696&isnumber=10141

    J. Holtz and J. O. Krah, "Suppression of time-varying resonances in the power supply line of AC locomotives by inverter control," in IEEE Transactions on Industrial Electronics, vol. 39, no. 3, pp. 223-229, June 1992.
    doi: 10.1109/41.141624
    keywords: {Resonance;Power supplies;Substations;Vehicles;Frequency;Signal generators;Electromagnetic interference;Railway communication;Communication system signaling;Programmable control},
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=141624&isnumber=3804

    J. Holtz and J. O. Krah, "Adaptive optimal pulse-width modulation for the line-side converter of electric locomotives," in IEEE Transactions on Power Electronics, vol. 7, no. 1, pp. 205-211, Jan. 1992.
    doi: 10.1109/63.124592
    keywords: {Pulse width modulation converters;Pulse modulation;Rail transportation;Pulse width modulation;Surfaces;Vehicles;Synchronous generators;Resonance;Resonant frequency;Voltage},
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=124592&isnumber=3516

    which one
    hello110300509
    @hello110300509
    Thank you
    hello110300509
    @hello110300509

    float a, b, y;

    switch((int)PIN(mode)) {
    case PHASE_90_3PH: // 90°
    a = u - v;
    b = w - v;
    y = u / 3.0 + v / 3.0 + w / 3.0;
    break;

    case PHASE_120_3PH:  // 120°
      a = u * 2.0 / 3.0 - v / 3.0 - w / 3.0;
      b = v / M_SQRT3 - w / M_SQRT3;
      y = u / 3.0 + v / 3.0 + w / 3.0;
      break;
    
    case PHASE_180_2PH:  // 180°
      a = 0;
      b = (u - w) / 2.0;
      y = (u + w) / 2.0;
      break;
    
    case PHASE_180_3PH:  // 180°
      a = v;
      b = (u - w) / 2.0;
      y = (u + w) / 2.0;
      break;
    
    default:
      a = 0.0;
      b = 0.0;
      y = 0.0;
    in the clark transformantion , what is the meaning of mode,
    We generally use the Clark transformantion as PHASE_120_3PH, Why the stmbl has the other modes
    Nico Stute
    @crinq
    for dc and 2ph motors
    hello110300509
    @hello110300509
    thanks. what is the meaning of PHASE_90_3PH and PHASE_180_3PH
    hello110300509
    @hello110300509
    Which component complete the initial posistion identification for stmbl
    Nico Stute
    @crinq
    fb_switch if the feedback is not absolute
    hello110300509
    @hello110300509
    Thank you
    hello110300509
    @hello110300509
    What is the initial posistion identification method used in stmbl
    issyvarsano
    @issyvarsano
    UVW
    Nico Stute
    @crinq
    depends on the feedback and motor
    e.g. hall sensors, open loop d axis alignment, hfi, ...
    hello110300509
    @hello110300509
    I can not find where the sturcts are defined, such as curpid_pin_ctx_t, fb_switch_pin_ctx_t and so on.
    where they are
    where are they
    Nico Stute
    @crinq
    run make and look at src/hal_tbl.c and stm32f303/src/hal_tbl.c
    hello110300509
    @hello110300509
    thank you
    Nico Stute
    @crinq
    the *_pin_ctx_t stuff is in inc/comps/<comp_name>.h generated by https://github.com/rene-dev/stmbl/blob/master/tools/create_comp_h.py
    hal_tbl.c contains the comp and pin names
    hello110300509
    @hello110300509
    ok, thank you
    hello110300509
    @hello110300509
    what is the meaning of the error: fault 6: saturation error

    I just typed the command as Connect it rev0.in = sim0.vel

    Set frequency sim0.freq = 1 (in Hz)

    Enable fault0.en = 1

    hello110300509
    @hello110300509
    sometimes, it shows : fault 5 position error
    1639972686(1).png
    I confirm that the encoder has been correctly configured
    Nico Stute
    @crinq
    looks like the polecount or encoder resolution is a bit off
    or if this is an incremental encoder with index conf0.mot_fb_offset is wrong
    hello110300509
    @hello110300509
    yes, this a incremental encoder
    how to determin the value of conf0.mot_fb_offset
    and i have ecountered another problem, when i enter rev0.in = sim0.vel, the red led under near the usb will flah slowly
    usually
    which means that the communication with the lV board is lost
    hello110300509
    @hello110300509
    image.png