Hello all,
during my time now with SimpleFOC I had my system running quite well with closed loop angle control.
I just needed a bit more performance thats why i wanted to implement current sensing.
I tried adapting the code from https://community.simplefoc.com/t/problem-with-b-g431b-esc1-current-sensing/3417 but then the motor would not turn all the time and when it turned it had a big delay.
Then i tried the example code for the b_g431_esc that you can see below. In this code the setup for current sensing is already there. but as soon as I am uncommenting
motor.torque_controller = TorqueControlType::foc_current;
, the motor does not move at all. Is this just a thing of tuning the PID controllers or am I making a bigger mistake ?
/**
* B-G431B-ESC1 position motion control example with encoder
*
*/
#include <SimpleFOC.h>
// Motor instance
BLDCMotor motor = BLDCMotor(4,0.4,601);
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
// encoder instance
Encoder encoder = Encoder(PB6,PB7,2048);
// Interrupt routine intialisation
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
void doIndex(){encoder.handleIndex();}
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.motion(&motor, cmd); }
void setup() {
// initialize encoder sensor hardware
encoder.init();
encoder.enableInterrupts(doA, doB);
// link the motor to the sensor
motor.linkSensor(&encoder);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 13;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// link current sense and the driver
currentSense.linkDriver(&driver);
// current sensing
currentSense.init();
// no need for aligning
currentSense.skip_align = true;
motor.linkCurrentSense(¤tSense);
// aligning voltage [V]
motor.voltage_sensor_align = 3;
// index search velocity [rad/s]
motor.velocity_index_search = 3;
// set motion control loop to be used
//motor.torque_controller = TorqueControlType::foc_current;
motor.controller = MotionControlType::angle;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 0.2;
motor.PID_velocity.I = 20;
// default voltage_power_supply
motor.voltage_limit = 12;
motor.current_limit = 6;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor.PID_velocity.output_ramp = 1000;
// velocity low pass filtering time constant
motor.LPF_velocity.Tf = 0.01;
// angle P controller
motor.P_angle.P = 20;
// maximal velocity of the position control
motor.velocity_limit = 500;
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align encoder 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() {
// main FOC algorithm function
motor.loopFOC();
// Motion control function
motor.move();
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
// motor.monitor();
// user communication
command.run();
}