Скачать или смотреть Fardriver 72890 with QS motor 273 50H motor with WeakResponse 5 21s1p 80AH battery

This test was done primarily to test WeakResponse 5 to see if its behavior is different than 6, 4,3,2,1,0.

Speed in KPH

KI is set based on the newer Siaecosys manual which varies slightly from the FarDriver manual. KP adjustment in the new firmware is nerfed and cannot be changed by the user. In the older version KP automatically follows its corresponding KI value x10.

As with all these tests, they end prematurely due to lack of legal road to test on.

The real 0-140 kph response is slower than the 30-140kph, which already has the controller wound up.

The battery is 21s (78v nominal) with peak discharge rating of 480a. As can be seen, the voltage as measured at the controller doesn’t sag below nominal even at 450a, so the battery is handling it well.

MaxSpeed rpm and ratios in speed are set high to ensure they don’t interfere during testing but will later be set to ensure the field weakening depth is restrained.

0:00 basic Parameters
0:09 Ratios in speed set for unrestricted
0:19 PID settings
0:27 Older Fardriver KI groups
0:36 Newer SiaEcosys KI recommended groups
0:46 test begins after decelerating to 30 kph. The controller is already “wound up” from integration so the proportional action causes amps to increase fast to 300a and then integrate up to max within 2 seconds.
0:53 at about 975 rpm (104 kph), back EMF started limiting phase current and initiated field weakening, where some of the excess current from the battery is used to reduce back EMF so the motor can run faster.
1:02 test ends with top speed of 143 kph due to end of road.