As mentioned in part2 I want to create a 360 degree vector table with PWM duties for A,B and C. This allows me to drive sinusoidal by simply stepping 0 to 359. To do this I create a small C application as follows: #include “stdio.h” #include “stdlib.h” #include “math.h” int main(int argc, char* argv) { FILE* fd = fopen(“vectors.cpp”, “w”); if (fd != NULL) { fprintf(fd, “alSinusVector _vector[AL3P_VECTOR_SIZE]=\n”); fprintf(fd, “{\n”); for (int i = 0; i < 360; i++) {…
In the Trapezoidal algorithm we drove the field using six steps which works, but it is very inaccurate. I would like more steps and to do that I need to use a Sinusoidal algorithm. Sinusoidal means we create a sinus wave using PWM duty, in fact we create 3 sinus waves 120 degrees apart to…
I will try to annotate the motor driver algorithms starting with a simple, brute force Trapezoidal algorithm. If you try to read papers on motor drivers you will see a lot of advanced math, but you will find very few papers explaining how simple it actually is, so I will try to do that here.…
Running a BLDC (3-phase motor) you need to insert and tune some parameters with regards to size of motor, number of winding, how much current do you output etc. But, more important is the algorithm and technique you chose matching the job at hand. You have three different algorithms (FOC, Sinusoidal, Trapezoidal) and a variety…
This is the block diagram of AL (Abstraction Layer) modules I drew som time ago. I need to review this as the list is far longer, but you get the idea. I actually started on the AL a year ago and managed to destroy my work due to a bug in STM32CubeIDE at the time,…
Many of you have seen this before – it’s my 60V/50A 3-Phase Motor Driver “Thunderstick”. It was a messy first assembly with greece coming through PCB holes, but I am all in all very happy with this design and will be using three of these controllers on the lawn mower. These are quite advanced drivers…
A module like ZED-F9P cost 148.- EUR and cover all these with an accuracy of 10 cm. The cost of thus module is currently a limitations, but cost will come down. I am more interested in the fact that it announce 10cm accuracy which open up a lot of usability options. The classic 2.5 meters…
I recently studied a robotic lawn mover and realized that I can easily build one of those myself. To get started I need two wheels with separate motors and the picture above is the driving mechanism for an electric scateboard. The wheels are 200mm in diameter and entire construction is ca 400mm wide. It is…
Some good news in the middst of this pandemic. Italian doctors state they now see a weakened corona virus compared to what hit Italy in the first wave. Lets cross fingers and hope this proves to be correct. Best look to all of you!
Arduino recently launched a new version of NANO with a powerfully 32-bit ARM M4 core, 64Mhz speed, 1Mb Flash and 256 Mb SRAM. And this is just the beginning. It’s MCU is nRF52840 that also contains a BLE Radio and SW stack. It has all the features you expect from a modern M4, but it…