84 lines
2.1 KiB
Markdown
84 lines
2.1 KiB
Markdown
|
# FOC 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
|
||
|
|
|
||
|
|
* Odrive D6374 150KV
|
||
|
|
p = 7
|
||
|
|
Rs = 0.0254 Ohm
|
||
|
|
Ls = 8.73 uH
|
||
|
|
i\_max = ?
|
||
|
|
v\_max = ?
|
||
|
|
|
||
|
|
Example configuration for f\_PWM = 20kHz, f\_notifier = 10kHz, ccb=1000:
|
||
|
|
Kp = 0.0087
|
||
|
|
Ki = 0.0025
|
||
|
|
|
||
|
|
* Linix 45ZWN24-40 (PMSM motor dedicated for NXP FRDM-MC-LVMTR kit)
|
||
|
|
p = 2
|
||
|
|
Rs = 0.5 Ohm
|
||
|
|
Ls = 0.400 mH
|
||
|
|
i\_max = 2.34 A
|
||
|
|
v\_max = 24 V
|
||
|
|
|
||
|
|
Example configuration for f\_PWM = 10kHz, f\_notifier = 5kHz, ccb=1000:
|
||
|
|
Kp = 0.4
|
||
|
|
Ki = 0.1
|
||
|
|
|
||
|
|
* Bull-Running BR2804-1700 kV (motor provided with the ST P-NUCLEO-IHM07 kit)
|
||
|
|
p = 7
|
||
|
|
Rs = 0.11 Ohm
|
||
|
|
Ls = 0.018 mH
|
||
|
|
i\_max = 1.2A
|
||
|
|
v\_max = 12V
|
||
|
|
|
||
|
|
Example configuration for f\_PWM = 20kHz, f\_notifier = 10kHz, ccb=200:
|
||
|
|
Kp = 0.036
|
||
|
|
Ki = 0.022
|
||
|
|
|
||
|
|
* iPower GBM2804H-100T (gimbal motor provided with the ST P-NUCLEO-IHM03 kit)
|
||
|
|
p = 7
|
||
|
|
Rs = 5.29 Ohm
|
||
|
|
Ls = 1.05 mH
|
||
|
|
i\_max = 0.15A
|
||
|
|
v\_max = 12V
|
||
|
|
|
||
|
|
Example configuration for f\_PWM = 10kHz, f\_notifier = 5kHz, ccb=TODO:
|
||
|
|
Kp = TODO
|
||
|
|
Ki = TODO
|
||
|
|
|