afm11 - multirate problems

with both global and local (I sense) rates at 4e-5, the motor turns.

With the local rate at 2e-5 the motor does not turn.

with both global and local (I sense) rates at 2e-5, the motor turns.

so the problem is not with the magnitude of the sample time, rather with the rate transition.

I need to determine what the smallest possible sample time is.

try 1e-6

motor does not turn

try 1e-5

WORKS

try 5e-6

sort of works

stay at 1e-5 for the moment.

note that this has been at a PWM period of 3000

that corresponds to a PWM rate of 75000000/3000 = 25k

time to average the current over about 5 PWM cycles = 20samples

tried to add a weighted moving average with the default weight of:[0.1:0.1:1 0.9:-0.1:0.1]

DNW

tried an average of 5



seems to be better

tried an average of 10




seems to be not much different - I should have used a multiple of PWM cyles - I will try 20

to make the change of averages easier, I set it up with some inititalisation code

I had problems with 20 and then even 10 so after checking that the program still worked on AFM10 in the april folder. I still have problems.

Maybe try back at 5

still not working properly

try afm11 from april - maybe something is wrong with one of the current sensors and my problem is nothing to do with the moving average.

the problem is still there.

If i think about it, the problem began while I was testing the 10 average. I thought at the time that it was just a glitch but I have not had the motor turning successfully since using closed loop control (only open loop with afm 10)

Check the output of the current sensors under open loop control.

now nothing is even working under open loop control

tried "working_masked_openlooop" and it is not working

THIS IS NOT WHAT I NEED TODAY