Stepper motor Ramping in Simple FOC

developement
1

Hi I am a beginner with Simple FOC, and so far have been trying to figure out how Simple FOC implements ramping functions for stepper motors, specifically how do you just set the desired speed for the stepper motor and it just instantly does that speed wouldn’t that be infinite acceleration?. I am not asking about motion profiles, but just how the velocity gets controlled and how the stepper motor goes from 0 m/s to the desired speed with just the basic FOC control, in position mode, with torque and velocity PID loops running inside it.

Kindly Advise

2

Not instant acceleration, just very fast due to the low inertia and low top speed of stepper motors. If you’re trying to swing around a long robot arm or something, it will take longer to accelerate and decelerate, and may need lower angle P so it starts decelerating sooner to avoid overshoot.