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well judge for yourself - video here



I set syncofs to 5268, and throtcut to 2. Occured to me it was having trouble getting out of the dip it was stuck in. The car lift and ramps required created a kinds of tight hole it needed to get out. So we towed it out onto the flat and it moved. Not fast, but smooth...

That counts as a first drive, awesome.
You'll want a higher throtcur, your params file has it at 1.5. Deadtime is a little low at 63, I think 120 is what people seem to use.
Your ocurlim is only 200 too, you can set that to 900 and forget it, the prius inverter has hardware protection.
You il2gain il1gain are a fair bit lower than mine too, though I didn't calibrate I just copied Damiens values.

What firmware is that on?

Congrats

According to
https://openinverter.org/wiki/Toyota_Prius_Gen3_Board

The deadtime should be 130
The il1gain 4.56 and il2gain 4.5

thanks for the feedback

will go change and test - another video shortly...

ok - set params as recommended in last two posts. Pulls away stronger on lighter throttle for sure. Cut with OVERCURRENT when i gave it a medium size poke on the gas.

Motor/gearbox started making the noise as in the video, even in neutral - doesn't sound healthy.

You'll probably need to lower the throttle ramping too, 100 is pretty high and tune the PI params. Noise is strange.

> tune the PI params.

which are those ?

i think i'll also go to 5.24r now i've got this far

need to investigate that noise though. kinda feels like the motor & gearbox need to be split to investigate. i might be able to drop the gearbox out underneath leaving the motor in as if i was doing a clutch. i'll get the endocope in there and see what play there is. The coupler should have 10mm play IIRC and the shafts have a good 5mm between them.

if the occurlim is set to 900, what causes the overcurrent trip ?

Fantastic, great to see it moving under its own power

Not too keen on that gearbox noise though, definitely worth separating the two and checking. Could you have a slight axial misalignment and so a bearing side load?

While the motors separated it would be worth checking syncofs again too, without the drag of the gearbox you should me able to measure it much more accurately and it getting it spot on is really key to good motor control.

On the Prius the overcurrent is all built in to the Toyota igbt control board. A digital line that comes out from it that then trips the inverter.

loaded 5.24r and reduced throtramp to bigpie setting of 2.

Use the motor to drive it back onto the lift so i can investigate gearbox noise tomorrow.

i think i'll move updates to my project thread as this topic is closed as the car now moves