Hello everyone,
I am currently using a Nanotec DB28S01 motor in angle control mode. However, I am experiencing a very unusual behavior in my setup.
The motor does not start spinning on its own. It remains stationary even though the control is active. However, if I give the motor a slight manual push, it immediately starts spinning smoothly and continues to run perfectly without any issues.
Additionally, during the alignment process, the motor does not move at all — regardless of the alignment voltage I set.
Below is my code. I would really appreciate any suggestions or ideas on what could be causing this issue.
Thank you in advance!
#include <SimpleFOC.h>
float target_angle = 0; //= 6.28;
// Motor instance(pp)
BLDCMotor motor = BLDCMotor(2);
// driver instance
BLDCDriver3PWM driver = BLDCDriver3PWM(16, 4, 32);
HallSensor sensor = HallSensor(25, 26, 27, 2);
// Interrupt routine initialization
// channel A, B and C callbacks
void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doC(){sensor.handleC();}
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
void setup() {
Serial.begin(115200);
SimpleFOCDebug::enable(&Serial);
// initialize sensor hardware
sensor.init();
// hardware interrupt enable
sensor.enableInterrupts(doA, doB, doC);
// link the motor and the sensor
motor.linkSensor(&sensor);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
// driver init
if(!driver.init()){
Serial.println("Driver init failed!"); return;}
// link driver
motor.linkDriver(&driver);
// aligning voltage
motor.voltage_sensor_align = 2.2f;
// set motion control loop to be used
motor.controller = MotionControlType::angle;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 0.2f;
motor.PID_velocity.I = 0.20f;
motor.PID_velocity.D = 0;
// default voltage_power_supply
motor.voltage_limit = 12;
// 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 = 0.1f;
// angle P controller
motor.P_angle.P = 10;
// acceleration control using output ramp
// this variable is in rad/s^2 and sets the limit of acceleration
motor.P_angle.output_ramp = 10000;
// maximal velocity of the position control
motor.velocity_limit = 200;
// 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();
// 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() {
// main FOC algorithm function
motor.loopFOC();
// Motion control 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
command.run();
}