| ==================================== |
| ``foc`` FOC motor controller example |
| ==================================== |
| |
| The main purpose of this example is to provide a universal template to |
| implement the motor controller based on the kernel-side FOC device and |
| the application-side FOC library. |
| |
| At the moment, this example implements a simple open-loop velocity controller. |
| |
| Hardware setup |
| -------------- |
| |
| This example has not yet implemented any mechanism to protect the |
| powered device. This means that there is no overtemeprature |
| protection, no overcurrent protection and no overvoltage protection. |
| |
| Make sure that you power the device properly and provide current |
| limits on your own so as not to break your hardware. |
| |
| Configuration |
| ------------- |
| |
| The FOC PI current controller parameters can be obtained from the given |
| equations:: |
| |
| Kp = ccb * Ls; |
| pp = Rs / Ls; |
| Ki = pp * Kp * T; |
| |
| where: |
| - Kp - PI proportional coefficient |
| - Ki - PI integral coefficient |
| - Rs - average phase serial resistance |
| - Ls - average phase serial inductance |
| - pp - pole plant |
| - ccb - current control bandwidth |
| - T - sampling period |
| |
| Sample parameters for some commercially available motors |
| -------------------------------------------------------- |
| |
| ========================== == ========== ========= ======= ===== |
| Motor model p Rs Ls i_max v_max |
| ========================== == ========== ========= ======= ===== |
| Odrive D6374 150KV 7 0.0254 Ohm 8.73 uH ? ? |
| Linix 45ZWN24-40 2 0.5 Ohm 0.400 mH 2.34A 24V |
| Bull-Running BR2804-1700 7 0.11 Ohm 0.018 mH 1.2A 12V |
| iPower GBM2804H-100T 7 5.29 Ohm 1.05 mH 0.15A 12V |
| ========================== == ========== ========= ======= ===== |
| |
| * Odrive D6374 150KV |
| |
| ====== =========== ===== ======== ====== |
| f_PWM f_notifier ccb Kp Ki |
| ====== =========== ===== ======== ====== |
| 20kHz 10kHz 1000 0.0087 0.0025 |
| ====== =========== ===== ======== ====== |
| |
| * Linix 45ZWN24-40 (PMSM motor dedicated for NXP FRDM-MC-LVMTR kit) |
| |
| ====== =========== ===== ======== ====== |
| f_PWM f_notifier ccb Kp Ki |
| ====== =========== ===== ======== ====== |
| 10kHz 5kHz 1000 0.4 0.1 |
| ====== =========== ===== ======== ====== |
| |
| * Bull-Running BR2804-1700 kV (motor provided with the ST P-NUCLEO-IHM07 kit) |
| |
| ====== =========== ===== ======== ====== |
| f_PWM f_notifier ccb Kp Ki |
| ====== =========== ===== ======== ====== |
| 20kHz 10kHz 200 0.036 0.022 |
| ====== =========== ===== ======== ====== |
| |
| * iPower GBM2804H-100T (gimbal motor provided with the ST P-NUCLEO-IHM03 kit) |
| |
| ====== =========== ===== ======== ====== |
| f_PWM f_notifier ccb Kp Ki |
| ====== =========== ===== ======== ====== |
| 20kHz 10kHz TODO TODO TODO |
| ====== =========== ===== ======== ====== |
