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