nuttx-apps/examples/foc

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