We are using following components for building the Position control of BLDC Motor
- SimpleFOC board received last week
- iPower GM2804 BLDC Motor
- AS5048B Magnetic Encoder
The magnetic encoder is connected through I2C ports and modified the file angle_control file to establish I2C communication, Pole pairs, bit resolution, Memory map.
#include <SimpleFOC.h>
// magnetic sensor instance - SPI
//MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
// magnetic sensor instance - MagneticSensorI2C
MagneticSensorI2C sensor = MagneticSensorI2C(0x40, 14, 0xFE, 8);
// magnetic sensor instance - analog output
// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
// BLDC motor instance
BLDCMotor motor = BLDCMotor(9, 10, 6, 7, 8);
// Stepper motor instance
//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
void setup() {
// initialise magnetic sensor hardware
sensor.init();
// link the motor to the sensor
motor.linkSensor(&sensor);
// power supply voltage
// default 12V
motor.voltage_power_supply = 12;
// choose FOC modulation (optional)
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// set motion control loop to be used
motor.controller = ControlType::angle;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 0.2;
motor.PID_velocity.I = 20;
motor.PID_velocity.D = 0;
// maximal voltage to be set to the motor
motor.voltage_limit = 6;
// velocity low pass filtering time constant
// the lower the less filtered
motor.LPF_velocity.Tf = 0.01;
// angle P controller
motor.P_angle.P = 20;
// maximal velocity of the position control
motor.velocity_limit = 20;
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align sensor and start FOC
motor.initFOC();
Serial.println("Motor ready.");
Serial.println("Set the target angle using serial terminal:");
_delay(1000);
}
// angle set point variable
float target_angle = 0;
void loop() {
// main FOC algorithm function
// the faster you run this function the better
// Arduino UNO loop ~1kHz
// Bluepill loop ~10kHz
motor.loopFOC();
// Motion control function
// velocity, position or voltage (defined in motor.controller)
// this function can be run at much lower frequency than loopFOC() function
// You can also use motor.move() and set the motor.target in the code
motor.move(target_angle);
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
// motor.monitor();
// user communication
serialReceiveUserCommand();
}
When we provide angle command(in degree) through serial command, it just rotate continuously with vibration. Please provide the solution for this.
