VESC Sensorless HFI Tutorial(FW 4.0)
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- เผยแพร่เมื่อ 4 ก.ย. 2024
- A quick tutorial on how to setup high-frequency injection on vesc-based motor controllers on the new firmware 4.0. This offers superior sensorless motor operation in comparison to the existing algorithm.
Check out Benjamin Vedder's video for an in depth explanation of how it all works: • VESC HFI: Sensorless p...
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so the commands are:
measure_ind 0.2
foc_plot_hfi_en 1
Helpful, thanks!
HFI Performance seems to be better than hall sensors when changing directions, so i want to see if i can get mine dialed in better.
Ok i think i figured out my problem. My HFI is configured fine, but the canbus linked motor HFI reboots on direction changes causing it to loose position tracking for a moment. At least thats what it sounds and feels like, ill have to dig into the code.
@@freedomcaller maybe make sure your CAN cables are short and twisted? What ESC is it?
@@FriesenDesigns my can cable is super long, ill make a new one and twist it. But my can performs perfectly with hall sensors, and with hfi if I'm not balancing on the center point. I'm using dual vesc6+
I also want to try getting hfi setup on on a larger euc motor, but I can't seem to get it working. 😥
@@freedomcaller Oh I re-read and am following more what you are saying now, through zero speed it seems to lose position tracking? This should not happen in theory.
For the larger EUC when you measure inductance from the terminal how much of a difference are you seeing?
@@FriesenDesigns yes through 0 it looses position tracking, only on the can bus slave.
For the large euc when I measure inductance it varies from maybe 30% to 70% does this mean hfi won't work?
Thanks for the tutorial!!!!
Yooooo you’re still alive!
I’m almost finished building your gus simpson revision
@@lukasmakessomething7322 Awesome, best of luck with it!
nice explain
What if I don’t have electric brake how can I do this without it ?
Here's the thing.... if the red plot is only about start voltage.... why does the red plot persist whenever HFI is running, even after the "start voltage" phase has ended?
I noticed that a higher run & max voltage correlated to a much tighter red plot, and saw improvement in detection performance as well.
Thank u sooo much!
After brother stm32 connects to Vesc. The encoder curve is abnormal. It's normal if I dismantle Stm32! Do you know what happened?
Worked great!
After setting up hfi, I get the hfi noise constantly when I apply the brakes. Is that normal?
When I run the HFI realtime plot, i get some points way out in space past the -3->3 it shows for you, any advice on this?
Issue went away with USB connection, i was using TCP from phone app over bluetooth before
Can I set this up in bldc mode?
I have a dual FSESC, do I eed to do all steps for each "vesc" ?
The settings should be mirrored for similar motors. So once you dial in good settings for one they should work the same for the other side.
Quick question: Is the HFI implementation based on any spesific research paper, or only on general knowledge about HFI?
Vedder and I just developed it over a week together from first principles of the machine. Vedder spent a lot of additional time refining it to make it work as good as it does now. Obviously knowledge that it was possible to do was useful but we never referenced any papers on the topic or anything while we developed, just a lot of whiteboard math and code.
@@FriesenDesigns alright! Thanks for the answer! And great work ;)
i noticed you left the bottom right box an 20 amps ... quite a jump from 3 amp ... is this normal ??
That box will be the current command sent to the motor from vesc tool when you use the arrow keys. For my motors this current will still be easy to hold with the hand but your mileage may vary.
I set up the left motor without issues but, do I need to set up the othrer motor the same way?
If they are the same motor the same HFI voltage should work well.
Hey man tried to follow your tutorial on my Flipsky FSESC 6.6 but when I get to the point of clicking on full break all I get is CLICK and then nothing any ideas ?
Yes, disable the app input from ppm. If you have a remote connected it will over-ride the brake command.
@@FriesenDesigns Thank you, does this still apply if I'm using UART remote? Also my VX2 remote was not connected at the time.
@@Rick-zn5ge If the reciever is not connected then it does not apply. Just set it to no app and that should do the trick.
@@FriesenDesigns Thanks for the advice bud, appreciate it.
Hi, very good video, i just wonder if I go for hfi or continue with hall sensors, what do you think is the best option??
If your hall sensors are working consistently I would recommend sticking with those.
@@FriesenDesigns thanx for your answer! I will stick on hs then....
I want to revive a dead boosted v1 dual. What esc do you recommend?
Hello, I am using a VESC UBOX Dual 75100 and I am trying to configure the electric scooter engine to work with HFI, but my blue dots at the first stage are in random (?) order and they do not change when the motor rotates by hand
i.postimg.cc/R0zqXLP6/photo-2022-06-09-23-50-05.jpg
😟
I tried to look at the "motor position" and turn it: at idle, it correctly shows movement, but as soon as I turn on Full Brake (with HFI), this graph shows something random (along with this, the ERPM values change from -1000 to 1000) and also does not react to the rotation of the motor.😓
Maybe you have any idea what this might be related to?
Is it possible to set HFI with vesc tool mobile?
yes, it should be. Make sure you have the latest version from the playstore. It will be difficult to see if its working though as these plots won't be available.
@@FriesenDesigns thanks