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Speed Regulator Modes

Introduction

The Speed regulator mode parameter sets the primary control mode for motor operation. Motor operation may be speed or torque based as the primary control mode. Our implementation includes the following 3 regulation modes:

In Speed regulator mode 0 / speed_ mode, the controller targets the commanded speed and manages torque accordingly. This is suitable for applications that require speed to be maintained under different and varying conditions. This mode is speed limiting. Note, this is not a recommended mode for eBikes.

In Speed regulator mode 1 / torque_ mode, the controller targets the commanded current output. The controller uses the current loop to control the motor operation. This mode is not speed limiting. The motor will spin as fast as is possible, limited by available torque and system load.

In Speed regulator mode 2 / torque mode with speed limiting, the controller targets the commanded torque, the same as torque mode, up until the speed limit. This mode is speed limiting. Additionally, there is the option to have variable speed limit based on throttle position.

Configuration

If the Control command source is set to any source other than 0 / Serial stream, you must first change your switching frequency to 10000 Hz for Speed regulator mode 0 / speed mode to function, as 13000 Hz is the default configuration value. Follow these steps from PC BACDoor®:

Note

You will lose Bluetooth as a result of changing the switching frequency

  • Enter Parameter access code 15350 to get user access level 1.
  • Change the Switching frequency to 10000 Hz.
  • Save to flash.
  • Reboot the controller and double-check that the Switching frequency changed to 10000 Hz.
  • Change Speed regulator mode to 0 / Speed.
  • Set the speed limits, see below.
  • Save to flash.

If the Control command source is set to 0 / Serial stream, simply change Speed regulator mode to 0 / Speed.

Danger

This speed mode does not limit speed and depending on the ramp rate and other tuning parameters this could damage your set up. Please exercise caution when testing this speed mode.

Change the Speed regulator mode to 1 / Torque, this is also the default configuration value.

  • Change the Speed regulator mode to 2 / Torque mode with speed limiting.
  • Set the speed limits by writing to the following parameters as appropriate for your application

Note

Limits are according to the mode you're in and the command source. Throttle is for throttle in the mode you're in, PAS is for the rest.

Vehicle jog speed limit is the walk mode and reverse speed limit.

Parameter Name Description Units Address
Vehicle maximum speed (Street mode PAS max speed) (Street mode PAS max speed) Vehicle speed limit for foldback in km/hr km/hr 123
Vehicle maximum speed (Race mode PAS max speed) (Race mode PAS max speed) Vehicle speed limit for foldback in km/hr km/hr 124
Vehicle maximum speed (Street mode Throttle max speed) (Street mode Throttle max speed) Vehicle speed limit for foldback in km/hr km/hr 229
Vehicle maximum speed (Race mode PAS Throttle speed) (Race mode Throttle max speed) Secondary vehicle speed limit for foldback in km/hr km/hr 236
Vehicle jog speed Vehicle speed limit for walk mode in km/hr km/hr 230
Vehicle jog speed2 Vehicle speed limit for boost mode, and inhibit speed for anti-theft in km/hr km/hr 252

Optional: Enable Features2 bit 11 (Throttle mapping on speed for torque mode) to enable variable speed limit based on throttle position.