84 lines
2.7 KiB
ReStructuredText
84 lines
2.7 KiB
ReStructuredText
``foc`` FOC motor controller example
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====================================
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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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--------------
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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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-------------
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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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Kp = ccb * Ls;
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pp = Rs / Ls;
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Ki = pp * Kp * T;
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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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--------------------------------------------------------
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========================== == ========== ========= ======= =====
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Motor model p Rs Ls i_max v_max
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========================== == ========== ========= ======= =====
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Odrive D6374 150KV 7 0.0254 Ohm 8.73 uH ? ?
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Linix 45ZWN24-40 2 0.5 Ohm 0.400 mH 2.34A 24V
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Bull-Running BR2804-1700 7 0.11 Ohm 0.018 mH 1.2A 12V
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iPower GBM2804H-100T 7 5.29 Ohm 1.05 mH 0.15A 12V
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========================== == ========== ========= ======= =====
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* Odrive D6374 150KV
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====== =========== ===== ======== ======
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f_PWM f_notifier ccb Kp Ki
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====== =========== ===== ======== ======
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20kHz 10kHz 1000 0.0087 0.0025
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====== =========== ===== ======== ======
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* Linix 45ZWN24-40 (PMSM motor dedicated for NXP FRDM-MC-LVMTR kit)
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====== =========== ===== ======== ======
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f_PWM f_notifier ccb Kp Ki
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====== =========== ===== ======== ======
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10kHz 5kHz 1000 0.4 0.1
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====== =========== ===== ======== ======
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* Bull-Running BR2804-1700 kV (motor provided with the ST P-NUCLEO-IHM07 kit)
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====== =========== ===== ======== ======
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f_PWM f_notifier ccb Kp Ki
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====== =========== ===== ======== ======
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20kHz 10kHz 200 0.036 0.022
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====== =========== ===== ======== ======
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* iPower GBM2804H-100T (gimbal motor provided with the ST P-NUCLEO-IHM03 kit)
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====== =========== ===== ======== ======
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f_PWM f_notifier ccb Kp Ki
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====== =========== ===== ======== ======
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20kHz 10kHz TODO TODO TODO
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====== =========== ===== ======== ======
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