Hoverboard motor vibrates but doesn't rotate

hardware support
21

But is it working then
It could be missing interrupts

22

I tested the hall sensor and found that by turning the wheel once, the angle reached 6.28rad

23

And no steps were missed?

24

Thatā€™s why you need to put the details in your post.
Your title takes half of the screen on my phone :joy:

1 Like
25

Iā€™m sorry for the title, but right now I still donā€™t know why my BLDC motor doesnā€™t rotate

26

Are you sure the hall sensors are OK? The interrupts are triggering?

27

Iā€™m trying again on Esp32 but the hallsensor is faulty, Iā€™m using 3 pins 13,12,14

28

I used this parameter:
motor.PID_velocity.P = 0.3f;
motor.PID_velocity.I = 0.3f;
motor.PID_velocity.limit = 0.04f;
But the engine speed is not stable. The motor I use has 15 pairs of poles, I use 36V voltage to control

29

I think you meant this to be

motor.LPF_velocity.Tf = 0.04f;

If you copied it from @o_lampe

But the engine speed is not stable is a bit cryptic. Perhaps you could upload a video somewhere.

30

Thank you I will try again

31

The wheel is spinning. I tried it on Esp32, but if I want to control 2 wheels, the number of connection pins is not enough, what should I do?

32

Why is it not enough? Which ESP32 are you using?

It should in theory be possible to run 2x BLDC with 3-PWM.

To use 2 x Hall-Sensor you will have to wait for the next release of the library, or use the dev-branch version from GitHub. In the current release version of SimpleFOC, only one HallSensor can be used.

The pins M_OC, OC_ADJ and M_PWM, if you use the same configuration on both drivers you can use the same MCU pins for both driversā€¦

33

Thank you, where is the code for the dev branch version? I canā€™t find it

34

I use esp32 S3:

image
image1113Ɨ499 82.7 KB

But when I use 2 DRV8302 drivers, there is a fault indicator light, below is my pin declaration code:
//motor1
#define INH_A1 4 //PWM_A
#define INH_B1 5 //PWM_B
#define INH_C1 6 //PWM_C

#define EN_GATE1 35
#define M_PWM1 3
#define M_OC1 37
#define OC_ADJ1 0

#define HALLa1 (16)
#define HALLb1 (15)
#define HALLc1 (7)
//#define pp 15 //Pole Pairs

//motor2
#define INH_A2 9 //PWM_A
#define INH_B2 10 //PWM_B
#define INH_C2 11 //PWM_C

#define EN_GATE2 13
#define M_PWM2 14
#define M_OC2 36
#define OC_ADJ2 12

#define HALLa2 (17)
#define HALLb2 (18)
#define HALLc2 (8)

35

You will find the dev-branch code here:

There are instructions online for how to find the library files in Arduino, and then you can replace the library with the dev-branch version.

Finding the right pins can be some work. I suggest you try one motor at a time, but with different pinsā€¦ then when each motor is working alone (on different pins) combine the two setups and try them together.

36

Thank you, I will try

37

Is there any way to find the correct PID for my motor?

38

Start with a low P-value, I and D are both 0.
Add some code in your program to change the PID values while running the motor.
Then play with the numbers until you are happy.

I like to use @dekutree64 Ā“s SerialComm()

void SerialComm()
{
  switch(Serial.read())
  {
  case 'P': motor.PID_velocity.P = Serial2.parseFloat(); Serial2.print("Set ");
  case 'p': Serial2.print("motor.PID_velocity.P "); Serial2.println(motor.PID_velocity.P); break;
  
  case 'I': motor.PID_velocity.I = Serial2.parseFloat(); Serial2.print("Set ");
  case 'i': Serial2.print("motor.PID_velocity.I "); Serial2.println(motor.PID_velocity.I); break;
  
  case 'D': motor.PID_velocity.D = Serial2.parseFloat(); Serial2.print("Set ");
  case 'd': Serial2.print("motor.PID_velocity.D "); Serial2.println(motor.PID_velocity.D); break;
  
}

void loop{
...
...
...
   if(Serial.available() > 0){
    SerialComm();
  };
}
39

Thank you, I will try again, I thought there was a method to use matlab to calculate the PID number

40

Thank you, I have calibrated the PID and the wheel spins very smoothly.
1: Can you tell me if the FOC library can check the actual maximum speed of the engine?
2: Also, is there a way to measure engine speed without using a Hall sensor inside the wheel? Because I want to measure the speed to check if the wheel can actually rotate at that speed