Hi I am using a simple FOC shield with arduino uno for a school project. I am simulating haptic feedback for a paraglider. Namely the brake toggles which are attached to a 3d printed spool connected to a GM4108H BLDC and an 11.1v lipo. I have the setup using motor.torque_controller = TorqueControlType::voltage;
motor.controller = MotionControlType::angle; and closed loop with AMT 103 incremental encoder. Everything is nice in terms of setting a position and going there. Even forcibly moving the motor small amounts, the motor will move back into its position. I am keeping motor.voltage_limit = 3; low so that torque is lower. I want to be able to pull the motor 1 meter or about 42.56 radians given this motors diameter and have it then return -42.56 radians back to its position. like a paragliding brake would once you let go of the force. The wing wants to return to its position of stasis. The problem I’ve observed is that moving the motor farther than 5 to 6 radians causes something i can describe as slippage and once it slips i observed it no longer can return home to its given position, in some cases it even spins uncontrollably. I understand what I’m asking might be outside of design specs. Are there any approaches or ways I can go about simulating this? Thanks.
Shouldn’t you be using angle control if you want to spin back to a particular position?
Same project here, I use torque mode and vary the torque depending on the break position.
Oh I mean I am using angle (not velocity). I corrected the initial post. Actually I’m thinking this might be to do with testing using the AMT 103 not securely fastened. I don’t have the 3D print yet so I have something else Jerry rigged but I noticed it’s extremely crucial that the encoder body stay fastened always otherwise the FOC algo can make the motor go crazy. I also implemented an extremely crude version angular control in torque control by looking at angular readings from the encoder and applying positive, negative or 0 voltage to move the motor towards a target. I had the same issue due to the encoder not securely fastened. Even more so it works flawlessly in open voltage mode with the crude angular control except that it gets really hot and the haptic feedback sucks. Prob bc it’s not relying on the encoder.
Open loop getting hot is very normal, just be careful with it. What is your final goal, which properties of a paraglider are you planning to simulate?
SIV. What about you?