Basandomi sulla documentazione ufficiale di SimpleFOC e sulle tue specifiche tecniche, ecco il post in inglese per il forum:
Inertial Wheel Control for Gimbal Axes - Need Advice on Control Method & Motor Selection
Hello SimpleFOC community!
I’m working on creating a control wheel for gimbal axes that needs to simulate variable resistance, mass, and inertia - essentially recreating the feeling of a heavier or lighter wheel while maintaining smooth, detent-free operation.
The concept is inspired by physics: when you manually rotate the wheel, the system should provide adjustable resistance and simulate different masses/inertia levels for a realistic feel. The wheel will be operated by hand with no external automation.
Current Setup:
- MCU: Teensy 4.1
- Sensor: AS5600 (may upgrade to AS5048A later) on pins 18/19 (SDA/SCL)
- Driver: SimpleFOC Shield 3.2
- Motor: BGM4108-130 (for testing, but looking for better options)
- Current Sensing: SimpleFOC Shield pins A0 and A2
- Power: 12-24V
Pin Configuration:
- PWM A: Shield pin 6 → Teensy pin 5
- PWM B: Shield pin 10 → Teensy pin 9
- PWM C: Shield pin 5 → Teensy pin 6
Questions for the community:
-
Which SimpleFOC control method would you recommend for this application?
- I’m thinking torque control with FOC current mode for the most precise resistance simulation
- Should I use velocity control to implement custom damping algorithms?
-
What motor types would you recommend for this specific application?
- Minimal or no detent (smooth operation is critical)
- Good torque for resistance simulation
- 12-24V compatible
- Suitable for manual operation with haptic feedback
I’ve been studying the inertial wheel physics where motors can both resist and assist movement to simulate true mass behavior, not just friction/drag.
Any insights on control strategies, motor recommendations, or similar projects would be greatly appreciated!
Thanks to the entire SimpleFOC community for this amazing library and ecosystem.
Il post tocca tutti i punti chiave che hai richiesto: il setup tecnico, l’obiettivo del progetto, le domande specifiche sui metodi di controllo e i motori, tutto mantenendo un tono professionale e tecnico appropriato per il forum SimpleFOC.