Hello Everyone,
I first want to say that this is my first post, and that I am a high school senior. So, I want to apologize in advance for any misconceptions, as my understanding of power electronics is mostly self-taught.
I am looking for any feedback and advice on my design for a less expensive controller for a quadruped project. It should be capable of controlling two 900Kv BLDC motors with SimpleFOC software. It will need to handle 130A for two seconds if both motors stall (which likely won’t happen, but better safe than sorry). Also, the power will be from two 4S LiPo batteries in parallel. One motor will be connected to a gearbox and the other will be connected to a pulley, so I intend to have two encoders per motor (MA702GQ-Z for input and AS5600 for output). The main mcu on the board is a STM32G473VET6, which handles the FOC portion, and the main FET driver is the DRV8323RSRGZR. The STM32 will communicate with a Teensy 4.0 via CAN, with the encoders via SPI (and GPIO pins), and with the drivers via SPI. Each motor has low-side current sensing (based on INA181A2IDBVR) separate from that of the driver on all three phases.
The main design inspiration has come from VESC 6.4 and the YouTuber Koshiro Robot Creator, but I’ve also done other research. Below is a link to pictures of the schematic, PCB, and of the pin configuration (sorry its through Google Docs, but I don’t know how to use anything else). Also below, I will include a link to the schematic PDF in case its not clear in the doc. I look forward to the feedback! Thanks!