Telega v0.5 is released

As always, grab the binaries from files.zubax.com.

This release brings the following improvements:

• Improved stability of sensorless control under difficult operating conditions such as rapid acceleration or step load change.

• Reduced the default PWM frequency from 47 kHz to 32 kHz while at the same time reducing the state estimation errors thanks to new DSP architecture. This change reduces the switching losses and thus lowers the heat dissipation in the inverter.

• Implement feed-forward injection in the velocity PID controller. The new architecture is as follows:

    target velocity --> [ramp] -+---> [PID] ----> current ---> (+) --> current
                                |                               ^
                                +-- [Feedforward] --> current --^

• Address the spurious motor temperature warning problem introduced in v0.4.

When migrating configuration parameters from an earlier revision, do not migrate the PWM frequency setting (vsi.pwm_freq); keep the default value of 32 kHz. Higher PWM frequencies are not supported starting with v0.5.

The new PID+FF tuning helper is implemented in this spreadsheet (copy to edit):

Parameters for some of the commonly used propellers are provided in the below spreadsheet:

The motor parameters are likewise available here:

The spreadsheets are currently sparsely populated, but we are going to be extending them over time. You can ship your hardware to our lab for characterization; our address is:

Zubax Robotics
Akadeemia road 21/1, Room 356, Tallinn 12618, Estonia
+3726891919