DRV8302 + ODrive Botwheels + Pi Pico Shaking Motor in torque and open loop velocity

hardware support
,
1

Hi everyone, I am having a lot of trouble with getting these ODrive Botwheels running. The main problem is when I try to run the wheel in torque or open loop velocity mode the wheel shakes very erratically. In all other modes the wheel does not move no matter what the target is set at. The motor also gets very hot when idling even though my current limit is set at 5A and the ODrive website says the wheels are rated for 5A continuous. The psu I am using is 24v.

Here is a picture of my setup:

IMG_5799
IMG_57991920×2560 468 KB

I am running simpleFOC on a Raspi Pico connected to the DRV8302 aliexpress board (DRV8302 Motor Drive Module High Power BLDC Brushless PMSM Drive ST FOC Vector Control Amplifier Board DC 5.5-45V 15A - AliExpress 502) controlling a singular ODrive Botwheel (ODrive BotWheels – ODrive Robotics).

Here is my code in Arduino IDE:

#include <SimpleFOC.h>

// DRV8302 pins connections
// don't forget to connect the common ground pin
#define   INH_A 0
#define   INH_B 1
#define   INH_C 2
#define   EN_GATE 16
#define   M_PWM 17 
#define   M_OC 18
#define   OC_ADJ 19
#define   H_A 3
#define   H_B 4
#define   H_C 5

// motor instance
BLDCMotor motor = BLDCMotor(15);

// driver instance
BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);

// hall sensor instance
HallSensor sensor = HallSensor(H_A, H_B, H_C, 15);
// channel A and B callbacks
void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doC(){sensor.handleC();}

// commander interface
Commander command = Commander(Serial);
void onMotor(char* cmd){ command.motor(&motor, cmd); }

void setup() {

  // initialize sensor sensor hardware
  sensor.init();
  sensor.enableInterrupts(doA, doB, doC); 
  // link the motor to the sensor
  motor.linkSensor(&sensor);

  // DRV8302 specific code
  // M_OC  - enable over-current protection
  pinMode(M_OC,OUTPUT);
  digitalWrite(M_OC,LOW);
  // M_PWM  - enable 3pwm mode
  pinMode(M_PWM,OUTPUT);
  digitalWrite(M_PWM,HIGH);
  // OD_ADJ - set the maximum over-current limit possible
  // Better option would be to use voltage divisor to set exact value
  pinMode(OC_ADJ,OUTPUT);
  digitalWrite(OC_ADJ,HIGH);

  // configure driver
  driver.voltage_power_supply = 24;
  driver.init();
  motor.linkDriver(&driver);

  // choose FOC modulation
  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

  // set control loop type to be used
  motor.controller = MotionControlType::torque;

  // controller configuration based on the control type 
  motor.PID_velocity.P = 0.2;
  motor.PID_velocity.I = 20;

  // velocity low pass filtering time constant
  motor.LPF_velocity.Tf = 0.01;

  // angle loop controller
  motor.P_angle.P = 20;
  
  // angle loop velocity limit
  motor.velocity_limit = 50;
  // default voltage_power_supply
  motor.voltage_limit = 24;

  motor.current_limit = 5;

  motor.voltage_sensor_align = 1;

  // use monitoring with serial for motor init
  // monitoring port
  Serial.begin(115200);
  // comment out if not needed
  motor.useMonitoring(Serial);

  // initialize motor
  motor.init();
  // align sensor and start FOC
  motor.initFOC();

  // set the initial target value
  motor.target = 2;

  // define the motor id
  command.add('M', onMotor, "motor");
  
  _delay(1000);
}


void loop() {
  // iterative setting FOC phase voltage
  motor.loopFOC();

  // iterative function setting the outer loop target
  // velocity, position or voltage
  // if target not set in parameter uses motor.target variable
  motor.move();

  // user communication
  command.run();
}

I am pretty much at a loss at this point so any help would be appreciated.

2

Maybe try to change the phases for the HallSensor, I never used one of these sensors, but I read some solutions for problems that the motor doesn’t spin or spin wrong.

I mean, the phase A, B, C must be in the correct order

3

I was able to get the hall sensors to work correctly but I am still running into the shaking issue. The shaking issue occurs in both open loop angle and velocity and when I try and run the motor in closed loop angle or velocity it just refuses to move at all unless I physically try to spin the motor in the correct direction then it stutters while spinning then comes to a complete stop shortly after. I have tried adjusting some PID settings but I can’t ever get it to have a different outcome. Do you think it could be a bad motor?

4

Maybe the problem is in the PCB, I had a similar problem with a custom PCB, my motor doesn’t spin and only spins if I move with the fingers.

I wrote the solution in the topic:
Custom PCB doesn’t move the motor - hardware support - SimpleFOC Community

Almost try with another motor.