FOC Driver + Feedback Magnetic Sensor - Arduino
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- čas přidán 25. 06. 2024
- High quality PCB prototypes: www.pcbway.com
Project and PCB: bit.ly/3UUPb3W
🔥Second version of my Arduino based FOC driver for triple phase brushless motors with AS5600 magnetic encoder. Works quite well! Soon we can make a harmonic drive motor for robots as the MIT Mini Cheetah.
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00:00 Intro
08:51 Thank You
Like share and subscribe to motivate me. Thank you
#FOC
#PCB
#arduino
#pcbway - Věda a technologie
Lots of people in the comment section give a lot of criticism and doubts but I think what you do for other people is amazing, providing an info and solutions for complex problems for free! Keep it up, you are doing great.
Two cents from my side for anyone watching this cool video and reading this comment 😊
First of, this is a nice introduction to the world of motor control, it covers some of the basics.
Second, some people said that FOC needs position sensor. Thats not true. There are sensorless FOC (read about BEMF or SMO observers)
Third, what we seen here its not even 5% of FOC, but is a good basis to build a basic FOC (im not saying its bad, im just saying that FOC is much more than setting PWMs based on angle input)
Fourth, having high pole-pairs is disadvantage, if you want to do FOC with uC which cost below 100€. Why? Angle sensor is measuring rotor mechanical position with some inaccuracy, which is only greater with more pole-pairs, since you need to do conversion to electrical domain.
Fifth, proper motor control (current, torque, speed) in proper closed-loop is one of the hardest things in embedded systems you can do, if you develop HW and SW from scratch.
Sixth, as much as this video is cool, please note, this is barely an introduction (stress on barely). For anyone trying to do these things professionally, keep in mind that you can only cover part of the field and not entire motor control. Field is just to vast.
Lastly, dont be discururaged when you fail. But also dont attempt such projects without having either immesne motivation to learn a few years or enough Control-Theory/Electronics/Firmware/Inverter knowledge to finish in one.
A few comments: 1) You can put V-grooves on your PCB so they break off easier and cleaner. Putting a slot is a lot less aesthetic 2) See if some of your PCBs can be partly pre-assembled 3) Phoenix CNC on tindie has an arduino 328p bootloader burner that burns QFP chips in less than 3 seconds - definitely check it out so you don’t have to waste arduino boards 4) superglue is super temporary on anything that moves. Love your videos
A lot of PCB manufacturers charge you extra if you have snap off parts on your boards since they count them as separate circuits.
Thank you for making code, the schematic, the PCB files open source!
Video is missing core parameters for FOC, like: Direct axis force and current (Id), Quadrature axis force and current (Iq), Space vectors etc. Happy to see in the next video.
Current sensing will ne next. For now it doesn't control the current value...
Content is allready super interesting! If you take it one step further and control currents and use them in another control loop that would be so awesome. I've been trying to do it with no success😅
Great job, but still not a FOC but you are doing a great job.
In the end, FOC is all about having your current vector being orthogonal to your magnetic field vector. If you can build your 3-phase signal without having to use transforms, then that's fine too. I.e. you don't exactly need these parameters.
so nice to see you revisit this! thanks!
Thank you!
I'm a fan of FOC drivers
Just when im about to include FOC into a new project! :) Thanks!
Always a pleasure to watch your videos, always a highlight to see what you have what you have come up with.
I was waiting for this project and tutorial ! thanks
I guess the algorithm is working. video came up top on my feed. and its only 15mins old!
Loved the content, I just learned some new stuff today.
Can you put via's under the controller chip, then make a larger ground plane (or even a 4 layer board) so the internal copper pours can act as heatsinks spreading the heat out away from the chip...use the copper and PCB as a heatsink
Very cool design...take a file or low grit sand paper and scuff the end of the shaft and back of the magnet before applying the glue, give is a rough surface to bond to.
Keep em coming!!!!
Another cool project! Thanks!
great tutorial on FOC, thanks for the tutorial!
Waw, this looks really awesome!!
Interesting concept! Like it! Thx for sharing.
Awesome video as always
Good stuff! More vids like that please.
I added this video to favorites as soon as I saw the thumbnail! What a great video! You always do a great job explaining the concepts and showing how everything works, really neat pcb designs btw! I wonder if you could add some thermal vias below the IC that gets hot to help with heat dissipation. Thanks for the video!!!
Congratulations for the very interesting project of FOC driver controller. With the posibilty of a precise positioning, brushless motors can be a very good substitute for servos in apllications where quickly movment changes are ncessary. I looked the system control routine of the program and noted that it implements in fact a PD controller instead a PID (lacks the integral gain and also the intergral term calculation). For applications where quick corrections are nedded it is the appropriated kind of controller to be used, and it is the case here. Anyway it would be interesting make a test adding the integral parcel and see the behavior of the motor positioning, after all the integral parcel remove the steady-state error.
Nice project!
Loved the start. 😂😂
Ladies and gentleman, he really did it!!!
Amazing, thats give me an idea for a gauge, now only need to find small motors with a lot of poles
Good job! Smart knob is based on this technology!
Para contar las vueltas puedes utilizar este algoritmo:
Sabiendo que el AS5600 tiene una resolución de 4096 puntos por revolución, entonces:
* dif --------> diferencia entre pasado y presente.
* num -------> Valor actual del encoder.
* last ---------> Valor anterior del encoder.
* turns -------> número de vueltas.
* steps -------> Pasos totales.
dif = num - last; // Guarda la diferencia entre el valor nuevo y el valor anterior (pasado).
last = num; // Y ahora guarda el valor actual como pasado.
if (dif < -2048) turns = turns + 1; // Comprueba si ha pasado por cero para contar una vuelta (cuando pasa de 4096 a 0) o descontar una vuelta (cuando pasa de 0 a 4096).
else if (dif > 2048) turns = turns - 1; // Esto se consigue si en la lectura del encoder el valor anterior y actual cruza ese umbral y está dentro del rango del "if".
steps = (long)(turns * 4096L) + (long)num;
El problema lo vas a encontrar si cuentas vueltas de forma muy rápida, probablemente deje de contar bien. No es problema del algoritmo de contar vueltas, sino de la lentitud en la ejecución. Se necesitaría acceder al AS5600 por interrupción.
Many thanks for your great work!
Thank uou for another awesome video.
Brilliant video and work ❤
Great work man
Love your channel and videos... please keep them coming. One possible content suggestion. I'm a novice about ready to dive into my first PCB from PCB way. I'm struggling a little with KiCad. Maybe a playlist with more detail for beginners / novice hobbyists on how to design a PCB and maybe a walkthrough with KiCad or open source equivalent. Anyway, great content as always. thank you.
Awesome work.
All wishes are with you
Good job.... Just a side note the more practical your content( not that you know how we would use it but rather how easy it if to take from you and then for us to implement it) the more obvious it is for us to subscribe like share... ect. No need to ask us to do this when the content is good.
Great content!!
I see motors and circuit boards: can’t help but watch
You are the best
Awesome video
Nice!
This just so happens to be my research topic at uni.
Excellent
Apply a low pass filter to both of your inputs into PID. That will help with runaways and shaking. Learned from FPV drones :)
This cannot work for angle input, as it will result in phase shifts which is for proper FOC (current control) undesirable.
Except if you then implement correction algorithms
Great video
Like others have said, I look forward to state space implementation. :)
Wonderful video...😊😊
You need to replace the AS5600 with a better sensor. It's not really meant to be used to way you're using it, with a spinning device, and is ideally meant to be used in an object with a fixed rotation of under 360 degrees, with the hard angles recorded in the one write PROM for permament use.
Try the MT6701 :D
Thanks so much for the tip!
could you do a part 2, where you implement other control schemes and using z domain to properly implement a difference eq as a compensator?
very entertaining video
Nice job exactly what I am currently working on. This is helpful. Do you intend to expose the SPI on a 2.2 revision of your gerber, because I don't feel like butchering some arduino dev boards just in order to get this cheap part.
Please make this into a product! A bldc Arduino server motor that can either be used as an Arduino servo to play around directly or as cheap and quiet servo modules that get commands via serial or can bus. Would be amazing for some projects 😄
Nice video
supercool!!
This is a good video for FOC basics well done man.
A request, Please can you make a tutorial for SimpleFOC library? If possible for esp32 it would be of so much help.
This FOCin nice!..
👍👍👍
Thanks!
I am the FOC Machine... wait, wrong topic, this is about electronics :D
Jokes aside, good implementation. I think the other sensor is more expensive because it will allow for MUCH faster control loops. If your control logic is in say an FPGA, I2C would be a major bottleneck of control loop speed and will render the FPGA advantage useless.
Awesome...
I electonoobs i am a fan
good job but I don't see the essence of FOC there. how did you solve the current measurement when you talk about torque regulation. I would also be interested in how he mastered the park and clark transformation atmga.
finally, I would recommend you to increase the pwm frequency above 20khz, you wouldn't have strange sounds there either.
The transforms are doable on ATMega if you use tables or CORDIC for the trig functions and fixed point math of course.
But he doesn't measure phase currents so no way to do the transforms without that.
Additionally, there is no way to use this ATMEGA for FOC @ 20kHz
Clock frequency is just too slow to be able to read angle, process currents, perform corrections, calculate DQs, do the PI, apply svpwm and repeat.
I mean you can do it in most basic form, but it's like putting lawnmower motor to a child toy chassis and call it a car.
@@AljazJelen1992 might be able to do the algorithm at 1kHz repetition rate, but yeah. Should go to some ARM CPU.
I am waiting for your helicopter video. You explained in previous video how the helicopter moves up down back forward.
Your sensor is the as5048a, which only does SPI and PWM, if you want I2C you need the AS5048b
could you add more MOSFETs in parallel to get more current?
Brother I m really Grateful for your video, Can you please try Closed Loop control In Simple FOC mini Board I tried so much But i couldn't make it work, Thanks ❤
Is it rectangular hole to easy cut out 2nd pcb
Hi, congratulations!
What do you think about to add an external Floating Point Unit, or a cheaper 32bit microcontroller(stm32f103c8t6) for the math calculations with SPI communciation?
If you plan to use current control, forget about SPI, it's too slow.
If you want to find cool ready-to-use HW, then check STM32G431 ESC. It's perfect for proper FOC
Could you also try building an FOC driver using DRV8323 IC?
Hi! In one of your previous videos, you mentioned that using the INA3221 is a great choice for measuring each phase of a BLDC motor. I'd like to use it to create a custom ESC for a drone, but I'm not sure how to wire this sensor in EasyEDA. Could you guide me through the process? Can I send you an email for more details?
Are the files at PCBWAY updated with the programming pins?
This still isn’t really FOC is it? Doesn’t FOC control the current through the coils rather than just setting a PWM duty cycle?
What a beautiful project! Andrei, I want to be your friend - would you?🤣Contact me! I spent a week playing with the AS5048A - the one that communicates over SPI, instead of I2C. It communicates way faster than the AS5600 (roughly 10x faster) - but the readings were more nosy. I still don't know if that's just because it has a 14 bit resolution instead of a 12 bit... Also, the AS5600 has 2 internal modes: when it is rotating fast, it is also noisier - when the speed reduces, it uses some filtering to provide more steady readings.
Thanks fot your message, I've seen other posts using it with i2c but I wasn't able to make ir work that's why I've only used the 5600.
Doesn't FOC mean the motor is controlled with a current that is always in a phase such as to maximize torque? I can't verify that, but i see that there is a position feed back.
❤
What bldc did you use? Link please :)
Is it possible to use back EMF to control motor without sensor?
Did you use SPI or I2C to talk to the AS5048, as this module only supports SPI. It doesn't look like you're able to use SPI with the breakoutboard
Forget about either, if you want higher speed torque control.
Except if you can implement observers
Quick question: How do you design your PCB use MOSI and MISO, SCL and CS to burn bootloader? Do you use jumpers to select these pins as inputs for burning bootloader (from Arduino Nano) and then when its the job is done select these jumpers to whatever you need in the project?
The atmega328 has those pins as default mosi miso on pins 11 12 ad 13. You Don't need any jumper just add pads dor the pina and that's is
i have a question: what are the inputs and outputs of the PID? Since you used a sine wave, you were able to precisely control the position of the rotor, right?
The output is the torque
Отказался от AS5600 в пользу MT6701. Выгоднее по скорости и вариантам вывода данных, да и точность хорошая - 1024 деления на оборот.
That's a really really bad way to panelise the PCBs, they will draw a square around it which will contain large gaps and they will charge you for all that area.
The driver IC got hot because you have no ground pour underneath the thermal pad and also 0 stitching vias.
I’m interest in this
Just to let everyone know
Can we only use internal sensored brusless 3 phase motor? So we can get rid zero crossing sensor and the hall effect sensor?
Internal sensored motors just have Hall effect sensor inside them. They tend to be more expensive too, just attaching a magnet to the back of the motor shaft is usually a better option.
How can I PERFECTLY center the magnet on the axle?
Привет! Извини, что пишу по-русски, по-английски не умею:)
Я купил ту же микросхему, что и у вас, но в dip корпусе. Собрал по той же схеме, но она работает не конкретно. С маленькими моторами она вообще не работает: моторы дёргаются, сильно греется мотор и драйвер и все. С большим мотором, подобным вашему работает, но он крутится очень медленно в режиме установки скорости. Я даже модернизировал код, но ничего не помогает :( Даже большой мотор начинает дорожать и дёргаться при таких же скоростях, как у вас в видео. Само движение тоже рваное, мотор заметно дёргается при движении. Пробовал даже ставить конденсаторы в различные места, но ничего не помогает. В чем может быть проблема?
P.S. посмотрел видео немного дальше. Вы сказали, что схема не будет работать с моторами от дронов. Ок. Мой большой мотор имеет 18 катушек. Неужели этот мало?
Sir what about ur MPPT SOLAR CHARGE???? Fast finish the changer the make other videos
hi! why are you using a rather expensive driver ($12)? why don't you use DRV8313 ($2) or DRV8323 ($3) or some cheaper ones?
Don’t PCB manufacturers not like you having snap off parts? Don’t they charge extra for that since it is separate circuits? With PCBWay don’t you need to select “Panel by Customer” and set the number of different designs which in this case is 3?
Where can I buy this motor?
evry time will be some people who can 't any thing and
talk nonsense. Soman you are the king and f * c * it all
Sir why you did not use esp32? you always use Arduino
That's a closed loop indeed with feedback and a nice PID .. Still not FOC though :/
Bro i want help to program arduino i am confused plz respond
Then use an electronic potentiometer controlled by another arduino etc and voila robotics!
I didn't know anything about this.
Still waiting for the scooter update
Can you do this on Arduino?
What? This is Arduino code!
@@ELECTRONOOBS What is the name of the motor driver used?
next
Second 😂
First
omg this motherfukerr lol im dead @0:24 funny AF! queeeee k bron lmfol
Third 🥉😂
No current feedback, no transforms to alpha/beta and DQ space, inefficient code using floats on the ATMega that doesn't have FPU, low freq PWM output by using Arduino analog write functions... Man, what a letdown :-(
Let’s see how much better the you made is. From scratch, no pre bought products allowed.
@@HelloNotMe9999 No problem, I have DIY inverter board on my desk and did FOC.
Doing it DIY doesn't excuse the laziness of using built in arduino functions that are useless for this application.
Exactly, just what I was thinking.