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DRV10983: DRV10983 驱动电机无法达到目标转速

Part Number: DRV10983

马达参数如下:

寄存器设置如下:

0x20~0x2B:{0x5E ,0x0C ,0x3A ,0x00 ,0x00 ,0xD1 ,0xA3 ,0x90 ,0x0E ,0x48 ,0x00 ,0x0C}

目标转速180hz/s

调试过程中发现当马达速度加速到一定速度后,通过IIC命令继续增加速度,马达速度无法继续增加,反而会报错停止转动。

如下是从120hz加速到出现过程中获取到的寄存器状态,转速超过144就开始异常了。

搞了好久了,请帮忙分析一下,多谢!!

Motor_speed_poll speed=124;
Motor_state_poll : 0x04
BLDCDATA 0X00~0X03 = 0X0E,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X1C,0X72,0X00,0X85,0X00,0X07
BLDCDATA 0X17~0X1E = 0X04,0X0C,0X00,0X67,0X87,0X83,0X04
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C

Motor_speed_poll speed=128;
Motor_state_poll : 0x04
BLDCDATA 0X00~0X03 = 0X18,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X1D,0XA7,0X00,0X83,0X00,0X08
BLDCDATA 0X17~0X1E = 0X03,0XFD,0X00,0X67,0X8C,0X88,0X04
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C

Motor_speed_poll speed=139;
Motor_state_poll : 0x04
BLDCDATA 0X00~0X03 = 0X22,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X20,0X00,0X00,0X78,0X00,0X05
BLDCDATA 0X17~0X1E = 0X04,0X11,0X00,0X67,0X91,0X8D,0X04
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C

Motor_speed_poll speed=144;
Motor_state_poll : 0x04
BLDCDATA 0X00~0X03 = 0X2C,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X20,0X00,0X00,0X73,0X00,0X04
BLDCDATA 0X17~0X1E = 0X04,0X06,0X00,0X67,0X96,0X92,0X04
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C

Motor_speed_poll speed=150;
Motor_state_poll : 0x24
BLDCDATA 0X00~0X03 = 0X36,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X20,0X92,0X00,0X6E,0X00,0X03
BLDCDATA 0X17~0X1E = 0X04,0X11,0X00,0X67,0X9B,0X97,0X24
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C

Motor_speed_poll speed=122;
Motor_state_poll : 0x24
BLDCDATA 0X00~0X03 = 0X40,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X1C,0X72,0X00,0X86,0X00,0X07
BLDCDATA 0X17~0X1E = 0X04,0X18,0X00,0X66,0XA0,0X9C,0X24
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C

Motor_speed_poll low detected!!! count=1, speed=47;
Motor_speed_poll speed=47;
Motor_state_poll : 0x26
BLDCDATA 0X00~0X03 = 0X4A,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X28,0X3F,0X00,0X57,0X1F,0XFF
BLDCDATA 0X17~0X1E = 0X03,0XE6,0X00,0X67,0XA5,0XA2,0X26
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C

Motor_state_poll : 0x26
BLDCDATA 0X00~0X03 = 0X40,0X81,0X80,0XF0
BLDCDATA 0X10~0X16 = 0X0F,0X3F,0XFF,0X00,0X28,0X1F,0XFF
BLDCDATA 0X17~0X1E = 0X03,0XFE,0X00,0X67,0XA0,0XA3,0X26
BLDCDATA 0X20~0X25 = 0X5E,0X0C,0X3A,0X00,0X00,0XD1
BLDCDATA 0X26~0X2B = 0XA3,0X90,0X0F,0X48,0X00,0X0C