For full load startup and running of zero or very low speed, you can use the hall sensor to calculate the speed and get the rotor angle, there are two ways to get the rotor angle based on hall sensor.
1. Set rotor angel to 0/60/120/180/240/300 based on hall sensor state, and use this rotor angle for Park, and I-Park modules.
2. Calculate the rotor speed based on hall sensor state, to calculate the rotor angle by speed integral.
Both ways need to do angel offset calibration and add the angle offset to the calculated value.
Force the rotor to a zero position by setting Id to a positive value and Iq to 0, and set the angle to 0 for park module. And then check the sensing angle from the sensor.
我的问题是我在哪里设置Id Iq？或者是我通过哪些参数来达到对Id , Iq的设置？谢谢