Hi,
I am new to foc control and simple foc library. I have been trying to get a closed position control example working with my set up. I am using the MKS ESP32 FOC controller and a AS5047 Encoder comunicating through SPI. I have a 5010 360kv bldc motor with 7pole pairs. I started with the maker Space open loop position control example and it worked fine besides some overheating. Now I am trying to conifgure the simple FOC position angle control(closed loop) example in their github but I am having lots of issues.
Firstly the encoder is returning values from 0 - 12ish in one full revolution. I think it should be in radians so 0-6.28 but I have no clue why it is off. There is also some noise of +/- 0.01 in the readings.
Secondly, when I test with this code or variations of this code the motor starts and moves one quarter rotation normaly but then starts jittering/shaking very fast. The serial input seems to do nothing when I tell it to go to a position. I have tried to tune the pid but with no luck. It seems like no mater what I do the motor just shakes very fast and uncontrolably. I also tried switching the motor wires with no avail. I am really lost and would really appreciate any help.
/**
*
* Position/angle motion control example
* Steps:
* 1) Configure the motor and magnetic sensor
* 2) Run the code
* 3) Set the target angle (in radians) from serial terminal
*
*/
#include <SimpleFOC.h>
// magnetic sensor instance - SPI
MagneticSensorSPI sensor = MagneticSensorSPI(5, 14, 0x3FFF);
// magnetic sensor instance - MagneticSensorI2C
//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
// magnetic sensor instance - analog output
// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(7); //According to pole pairs of the selected motor, modify the value of BLDCMotor() here
BLDCDriver3PWM driver = BLDCDriver3PWM(32,33,25,22);
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
// angle set point variable
float target_angle = 0;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
void setup() {
// initialise magnetic sensor hardware
sensor.init();
// link the motor to the sensor
motor.linkSensor(&sensor);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// choose FOC modulation (optional)
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// set motion control loop to be used
motor.controller = MotionControlType::angle;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 0.2f;
motor.PID_velocity.I = .1;//1
motor.PID_velocity.D = 0;
// maximal voltage to be set to the motor
motor.voltage_limit = 1;
// velocity low pass filtering time constant
// the lower the less filtered
motor.LPF_velocity.Tf = 0.1f;
// angle P controller
motor.P_angle.P = 1;//20
// maximal velocity of the position control
motor.velocity_limit = 20;//20
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align sensor and start FOC
motor.initFOC();
// add target command T
command.add('T', doTarget, "target angle");
Serial.println(F("Motor ready."));
Serial.println(F("Set the target angle using serial terminal:"));
_delay(1000);
}
void loop() {
//sensor.update();
Serial.println(sensor.getAngle());
// main FOC algorithm function
// the faster you run this function the better
// Arduino UNO loop ~1kHz
// Bluepill loop ~10kHz
motor.loopFOC();
// Motion control function
// velocity, position or voltage (defined in motor.controller)
// this function can be run at much lower frequency than loopFOC() function
// You can also use motor.move() and set the motor.target in the code
motor.move(target_angle);
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
// motor.monitor();
// user communication
command.run();
}