BLDC motor closed loop problem

developement
1

Hello guys, Rick here

I’m having problem with the closed loop implementation. I was using a Sin/Cos absolute encoder (the RM08 to be precise), but it didn’t seem to work. So I bought a common sensor like the AS5600 (the white module) to try some luck. However, the motor is not running. The tests I made so far:

  • Motor is running in velocity open loop, no problems.
  • The microcontroller (STM32F4) is reading the sensor, no problems.
  • The initialization goes to the loop (no return) and the loop is running fine.
    Could it be the PID variable I have to tune to make the algorithm work? I don’t think so, any suggestion is welcome.
Arduino for stm32 code 
#include <SimpleFOC.h>
#include <Wire.h>
#include <math.h>

#define USART1_TX   PA9
#define USART1_RX   PA10

// Create a SoftwareSerial object
HardwareSerial mySerial(USART1_RX, USART1_TX);

#define ADC_COSZ    PB0
#define ADC_SINZ    PB1
#define ADC_OFFSET  (1.55)

//MagneticSensorSineCos sensor = MagneticSensorSineCos(ADC_SINZ, ADC_COSZ, ADC_OFFSET);
// as5600 sensor quick config
TwoWire myWire(PC9, PA8);  // SDA, SCL
//myWire.setClock(400000);
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);

#define LPTN_EN   PB12
#define DRV_EN    PB5
#define FAULT_Z   PA7

// ===== BLDC motor & driver configZ ==== //
#define IN1_Z     PC6
#define IN2_Z     PC7
#define IN3_Z     PC8
BLDCMotor motorZ = BLDCMotor(6); // I think our motor has 6 pole pairs
BLDCDriver3PWM driverZ = BLDCDriver3PWM(IN1_Z, IN2_Z, IN3_Z);

uint8_t vtarget_arr[4] = {80, 100, 200, 0};
uint8_t i = 0;  // current index
unsigned long lastUpdate = 0;  // last time the index was changed
const unsigned long interval = 1000;  // 500ms interval

void setup() {
  //mySerial.println("Settiung UP!");
  mySerial.begin(9600);
  pinMode(FAULT_Z, INPUT);
  if(digitalRead(FAULT_Z)==LOW){
    mySerial.println("FAULT happened!")
  }
  */
  sensor.init(&myWire);
  motorZ.linkSensor(&sensor);
  // =============================== //
  driverZ.voltage_power_supply = 9;
  if(!driverZ.init()){
    mySerial.println("DriverZ init failed!");
    return;
  }
  // ============MOTORZ=================== //
  motorZ.linkDriver(&driverZ);
  motorZ.voltage_limit = 1;   // [V]
  motorZ.foc_modulation = FOCModulationType::SpaceVectorPWM;
  motorZ.controller = MotionControlType::velocity;
  // =============CLOSED LOOP=================== //
  // controller configuration based on the control type 
  // velocity PID controller parameters
  motorZ.PID_velocity.P = 3.0;
  motorZ.PID_velocity.I = 5.0;
  motorZ.PID_velocity.D = 0.001;
  // jerk control using voltage voltage ramp
  // default value is 300 volts per sec  ~ 0.3V per millisecond
  motorZ.PID_velocity.output_ramp = 1000;

  // velocity low pass filtering
  // default 5ms - try different values to see what is the best. 
  // the lower the less filtered
  motorZ.LPF_velocity.Tf = 0.01;
  // of current 
  motorZ.current_limit = 2; // Amps - default 0.2Amps
  // ============= INITIALIZATION OF MOTORS =============== //
  if(!motorZ.init()){
    mySerial.println("MotorZ init failed!");
    return;
  }
  // align sensor and start FOC
  motorZ.initFOC();
  //mySerial.println("Settiung up ended!");
  delay(1000);
}

void loop() {
  motorZ.loopFOC();
  motorZ.move(100);
  /*
  sensor.update();
  mySerial.println(sensor.getVelocity());
  motorZ.move(vtarget_arr[i]);
  // Check if 500ms have passed
  if (millis() - lastUpdate >= interval) {
    lastUpdate = millis();
    i = (i + 1) % 4;  // cycle through 0, 1, 2, 3
  }
  */
}

Again, my motor is the 1104 4300KV from here.