I purchased a B-G431-ESC1 with an ex8101 105kv motor and a 600p/r rotary encoder.
I started loading the first code with simplefoc example for B-G431-ESC1
But I have a problem that I don’t understand, the motor initializes correctly but once I send the command to angle the motor runs for a few seconds and stops with the maximum amperage entered in the motor.current_limit
it is my last code, if i send velocity command (“M10”). motor begin turn and stop after few degres
/**
* B-G431B-ESC1 position motion control example with encoder
*
*/
#include <SimpleFOC.h>
// Motor instance
BLDCMotor motor = BLDCMotor(22, 0.186, 105);
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);
// encoder instance
Encoder encoder = Encoder(A_HALL2, A_HALL1, 600);
// Interrupt routine intialisation
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.motion(&motor, cmd); }
void setup() {
// initialize encoder sensor hardware
encoder.init();
encoder.enableInterrupts(doA, doB);
// link the motor to the sensor
motor.linkSensor(&encoder);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// link current sense and the driver
currentSense.linkDriver(&driver);
// current sensing
currentSense.init();
// no need for aligning
currentSense.skip_align = true;
motor.linkCurrentSense(¤tSense);
// aligning voltage [V]
motor.voltage_sensor_align = 1;
// index search velocity [rad/s]
motor.velocity_index_search = 3;
// set motion control loop to be used
motor.controller = MotionControlType::velocity;
motor.torque_controller = TorqueControlType::voltage;
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 5;
motor.PID_velocity.I = 0;
// default voltage_power_supply
motor.voltage_limit = 6;
// 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;
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
SimpleFOCDebug::enable(&Serial);
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align encoder and start FOC
motor.initFOC();
// add target command T
command.add('M', doTarget, "target");
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
motor.move();
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
//motor.monitor();
// user communication
command.run();
}
Have you moved ticked off all the simpler steps/modes before getting to this stage?
E.g
Sensor test (no driver)
Openloop velocity (no linked sensor)
Closed loop torque/voltage mode
I imagine you’ve done step 1 and 2, but have you done 3 (without any current sense code). That 3rd step requires no PIDs so is good closed loop ‘first test’.
I’m not great at current sense stuff but suspect torque mode = voltage isn’t using your current sensing (shouldn’t stop things working, just an observation)
If you have completed 3 then I’d probably move to something similar to what you have (closed loop velocity) but with no current sense. Then finally move back to something similar to your code base.