Hello People,
I have a problem with my FOC current sense initialisation.
The setup:
I have a BLDC Motor called Ri50 from TMotor/CubeMars. It is in a 3D Printed case and has the AS5048B (I2C) chip as a rotary encoder. This I2C connection works as far as I know flawlessly and gives good position data.
The code: (mostly copied from the examples/hardware_specific_exaples/B_G431B_ESC1.ino)
#include <SimpleFOC.h>
BLDCMotor motor = BLDCMotor(7, 1.42, 96); // pole pair, phase resistance (optional), KV (optional)
BLDCDriver6PWM driver = BLDCDriver6PWM(PA8, PC13, PA9, PA12, PA10, PB15);
MagneticSensorI2C sensor = MagneticSensorI2C(AS5048_I2C);
LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.motion(&motor, cmd); }
void setup() {
// init sensor
sensor.init();
// link sensor to motor
motor.linkSensor(&sensor);
driver.voltage_power_supply = 24;
// init driver
driver.init();
// link driver to motor
motor.linkDriver(&driver);
// set motion control loop to be used
motor.controller = MotionControlType::velocity;
motor.linkCurrentSense(¤tSense);
// aligning voltage [V]
motor.voltage_sensor_align = 3;
// index search velocity [rad/s]
motor.velocity_index_search = 3;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 0.2;
motor.PID_velocity.I = 20;
// default voltage_power_supply
motor.voltage_limit = 24;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor.PID_velocity.output_ramp = 1000;
// velocity low pass filtering time constant
motor.LPF_velocity.Tf = 0.01;
// angle P controller
motor.P_angle.P = 20;
// maximal velocity of the position control
motor.velocity_limit = 4;
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align encoder and start FOC
motor.initFOC();
// add target command T
command.add('T', doTarget, "target angle");
Serial.println(F("Motor ready."));
Serial.println(F("Set the target angle using serial terminal:"));
delay(1000);
}
void loop() {
motor.loopFOC();
motor.move();
motor.monitor();
command.run();
}
After a small hiccup with the “-DHAL_OPAMP_MODULE_ENABLED” flag this compiles without a problem and gives following data via USB Serial connection:
MOT: sensor_direction==CW
MOT: PP check: OK!
MOT: Zero elec. angle: 4.09
MOT: Init FOC error, current sense not initialized
MOT: Init FOC failed.
Motor ready.
Set the target angle using serial terminal:
0.0000 0.0000 0.0728 3.2984
0.0000 0.0000 -0.1169 3.2965
0.0000 0.0000 0.0168 3.2977
0.0000 0.0000 0.0466 3.2981
0.0000 0.0000 -0.0009 3.2977
0.0000 0.0000 0.0853 3.2984
0.0000 0.0000 0.0690 3.2984
0.0000 0.0000 0.0431 3.2981
0.0000 0.0000 0.0490 3.2981
0.0000 0.0000 0.0341 3.2981
0.0000 0.0000 0.0346 3.2981
0.0000 0.0000 0.0719 3.2984
...
As you can see everything seems to work except the current sense initialisation.
Do you have any Idea why this would not work ? Did I miss something or is my Code wrong ?
I would appreciate your input and hope you have a nice day 