Hi All,
I’m new to this project, and have been really happy with it so far, thanks for all your hard work.
I’m using B_G431B_ESC1 to control an rctimer GBM5010 Gimbal motor, with an AS5048b encoder using i2c communication. Up until now I’ve only used voltage control, with closed loop position and velocity control. I’m now trying to implement current control.
PROBLEM: I’ve spent about two days trying to get current readings from this controller. I’ve been trying inline, and lowside. I’ve run the example code (with minor changes for it to compile) and all I get is seemingly random noisy values that don’t make sense to me. See the image below for an example from the arduino serial plotter. This is the output from the monitor: motor.monitor_variables = _MON_CURR_D | _MON_CURR_Q;
This is the serial output at calibration:
MOT: Monitor enabled!
MOT: Init
MOT: Enable driver.
MOT: Align sensor.
MOT: sensor_direction==CW
MOT: PP check: OK!
MOT: Zero elec. angle: 1.40
MOT: Align current sense.
MOT: Success: 1
MOT: Ready.
All while running the following code. Noisy output doesn’t change when I send a voltage to the motor to make it turn, sometimes sending a command or holding the motor seems to have some effect on the readings, but nothing that makes sense to me. I figure D and Q current should be at zero when the motor is set to zero torque. Q should fluctuate when I turn the motor by hand, and D should then also fluctuate to correct it in order to maintain zero current. Is this right?
#include <SimpleFOC.h>
//Motor Definition
BLDCMotor motor = BLDCMotor(7);
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
//InlineCurrentSense currentSense = InlineCurrentSense(0.003, -64.0/7.0, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
//Commander Definition
Commander commander = Commander(Serial, '\n', false);
void onMotor(char* cmd){commander.motor(&motor, cmd);}
// MagneticSensorI2C(uint8_t _chip_address, float _cpr, uint8_t _angle_register_msb)
// chip_address - I2C chip address
// bit_resolution - resolution of the sensor
// angle_register_msb - angle read register msb
// bits_used_msb - number of used bits in msb register
MagneticSensorI2C sensor = MagneticSensorI2C(0x40, 14, 0xFE, 8);
//MagneticSensorI2C sensor = MagneticSensorI2C(AS5048_I2C);
//Setup Code
void setup() {
Serial.begin(115200);
delay(1000);
//Commander Setup
commander.add('M',onMotor,"my motor");
//init i2c position sensor (as5048b)
sensor.init();
Wire.setClock(400000); //set i2c clock speed to 400khz)
//link motor to sensor
motor.linkSensor(&sensor);
driver.voltage_power_supply = 25.2;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// limiting motor movements
motor.voltage_limit = 10; // [V]
motor.velocity_limit = 40; // [rad/s]
motor.voltage_sensor_align = 10; //limits motor voltage during calibration of motor
// current sense init hardware
currentSense.skip_align = true; //skip current sensing since code is breaking here
currentSense.init();
motor.linkCurrentSense(¤tSense);
//PID Settings
motor.PID_velocity.P = 0.25;
motor.PID_velocity.I = 20;
motor.PID_velocity.D = 0;
motor.LPF_velocity.Tf = 0.01;
motor.P_angle.P = 20;
motor.P_angle.D = 1;
motor.PID_velocity.output_ramp = 1000;
motor.LPF_angle.Tf = 0.001;
//control type
motor.torque_controller = TorqueControlType::voltage;
motor.controller = MotionControlType::torque;
//use monitoring
motor.useMonitoring(Serial);
motor.monitor_variables = _MON_CURR_D | _MON_CURR_Q;
motor.monitor_downsample = 100; //monitor every 100 calls
// init motor hardware
motor.init();
motor.initFOC();
//target value
motor.target = 0;
}
void loop() {
commander.run();
motor.loopFOC();
motor.move();
motor.monitor();
}
I’m using the main library installed through arduino IDE, and the STM32 2.1.0. Am I supposed to use a dev branch? I tried to follow all the forums I could find regarding this board and current control, but I could easily be missing something major.
