Stepper motor + AS5600 not smooth and gets pretty hot

1

Hello, I’m trying to use a stepper motor in combination with the AS5600 but its doesn’t seem to be working correctly, I can’t figure out why.

#include <SimpleFOC.h>

// Stepper motor instance
StepperMotor motor = StepperMotor(50);
// Stepper driver instance
StepperDriver4PWM driver = StepperDriver4PWM(10, 9, 6, 5, 11, 3);

// encoder instance
MagneticSensorI2C encoder = MagneticSensorI2C(AS5600_I2C);

// commander interface
Commander command = Commander(Serial);
void onMotor(char* cmd){ command.motor(&motor, cmd); }

void setup() {
  // encoder initialiseren en linken
  encoder.init();
  motor.linkSensor(&encoder);

  // choose FOC modulation
  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

  // power supply voltage [V]
  driver.voltage_power_supply = 12;
  driver.init();
  // link the motor to the sensor
  motor.linkDriver(&driver);

  // set control loop type to be used
  motor.controller = MotionControlType::angle;

  // controller configuration based on the control type 
  motor.PID_velocity.P = 0.2;
  motor.PID_velocity.I = 20;
  motor.PID_velocity.D = 0;
  // default voltage_power_supply
  motor.voltage_limit = 12;

  // velocity low pass filtering time constant
  motor.LPF_velocity.Tf = 0.01;

  // angle loop controller
  motor.P_angle.P = 20;
  // angle loop velocity limit
  motor.velocity_limit = 50;

  // use monitoring with serial for motor init
  // monitoring port
  Serial.begin(115200);
  // comment out if not needed
  motor.useMonitoring(Serial);

  // initialise motor
  motor.init();
  // align encoder and start FOC
  motor.initFOC();

  // set the initial target value
  motor.target = 2;

  // define the motor id
  command.add('M', onMotor, "motor");

  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
  Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
  
  _delay(1000);
}


void loop() {
  // iterative setting FOC phase voltage
  motor.loopFOC();

  // iterative function setting the outter loop target
  // velocity, position or voltage
  // if tatget not set in parameter uses motor.target variable
  motor.move();

  // user communication
  command.run();
}

Thanks in advance.

Carelsbergh Stijn

3

This seems to be a pid tunning issue. You can find your controller parameters using the studio or the by sending the commands through the commander.

And also start with voltage torque control. If it works well, go to velocity control and find good pid velocity values and once it works well. Go to the angle control. And find the good pid values (only P necessary). :slight_smile: