Help with SimpleFOC – Motor not running smoothly

developement
,
1

Hi everyone,

I’m trying to get the SimpleFOC library working, and I’m using the following hardware setup:

  • ESP32-S3-DevKitC-1-N32R8V
  • Brushless Motor Driver TMC6300
  • T-EM3215D2450Y1R-BEZE (same motor used by smartknob)

Unfortunately, the motor behavior is not as expected. It moves in a jerky way, switching directions back and forth.
Does this sound like a configuration issue to you?

Here is the code I’m using:

#include <stdio.h>
#include <math.h>
#include <Arduino.h>
#include <SimpleFOC.h>
#include "common.h"
#include "LED_App.h"
#include "My_sensor.h"

// Timer
hw_timer_t *timer = NULL;
volatile unsigned int u16_clock1ms = 0;

// Variables
// Define the pins for motor control
const int UL = 16;
const int UH = 8;
const int VL = 7;
const int VH = 18;
const int WL = 15;
const int WH = 17;

// Callback function for the timer
void IRAM_ATTR onTimer()
{
  u16_clock1ms++;
}

void blink_led()
{
  if (TIME_OVER(u16_clock1s, u16_clock1ms))
  {
    u16_clock1s = u16_clock1ms + TIMEOUT_1s;
    if (bl_led_toggle == true)
    {
      LED_app_setColor("green", 10);
    }
    else
    {
      LED_app_setColor("green", 0);
    }
    bl_led_toggle = !bl_led_toggle;
  }
}

BLDCMotor motor = BLDCMotor(7); // Number of motor poles
BLDCDriver6PWM driver = BLDCDriver6PWM(UH, UL, VH, VL, WH, WL);
MySensor sensor;


void setup()
{
  // Reset tick system
  u16_clock1ms = 0;
  u16_clock1s = 0;

  // Configure the timer for a 1 ms period (1000 microseconds)
  timer = timerBegin(0, 80, true);             // Timer 0, prescaler 80, count up
  timerAttachInterrupt(timer, &onTimer, true); // Attach the interrupt
  timerAlarmWrite(timer, 1000, true);          // Period of 1000 microseconds (1 ms)
  timerAlarmEnable(timer);                     // Enable the timer alarm

  Serial.begin(9600);
  SimpleFOCDebug::enable();

  driver.voltage_power_supply = 5; // Motor power supply voltage
  driver.init();

  motor.linkDriver(&driver);
  motor.voltage_limit = 5;                                 // Voltage limit
  motor.controller = MotionControlType::torque;            // Control type: torque
  motor.torque_controller = TorqueControlType::voltage;
  motor.phase_resistance = 1.1; 

  sensor.init();

  motor.linkSensor(&sensor);
  motor.init();
  motor.initFOC();
  delay(1000);
}

void loop()
{
  blink_led();
  motor.loopFOC();
  motor.move(2);
}

And here is the terminal output:

MOT: Enable driver.
MOT: Align sensor.
MOT: sensor_direction==CW
MOT: PP check: OK!
MOT: No current sense.
MOT: Ready.

Any help or suggestions would be greatly appreciated. Thanks in advance!