Having worked with computers in 40+ years I must admit that I sometime dig into nostalgia and look at vintage computers before I recall how little you got done and how much time things took. The world has moved on – and thanks for that. RP2040 or Raspberry Pi Pico if you like is a…
One of the key features on the boards are that they assemble to a larger control system by just clicking them together. I have around 12 different boards by now and will start adding new boards and variants as I convert all my electronics from Target 3001 to KiCAD. These two board have 5V, Device…
The wheels above are cool, specially since they can carry a lot of weight. But, the motors are 2 x 2.5KW and the belt driven design is very open making it easy to be contaminated. The powerfully motors are more designed for speed than for driving slowly, but I will optimize that later. Position system…
I just started on 2 new motor drivers for my new project and soldered DRV8301 which is a dense 58 pin crab using an old solder paste. Soldering these crabs are easy and done in minutes, but I struggled with this paste and ended up with a driver that had pins not connected causing 2…
I am currently using DRV8301 from TI and is very happy with that one, but I want to add a 3rd Current Sensor so I can detect sensor errors and my eyes fell on DRV8353 and DRV8323 series. DRV8323 is 60V, while DRV8353 is 100V. I don’t mind the increase in voltage. The numbering is…
I recently discovered this chip (ISO1042) and wanted to share a circuit I found. This circuit is excellent, but it has two flaws: Firstly you need a small isolation coil 10-20uH between ISO 1042 and VCC1. This act as a filter so that higher frequencies used by the buck converter in ISO1042 do not disturb…
My previous entry show how to pre-calculate a Sinus table so we avoid doing this full speed because the next step is to convert this into a PWM pulse. A PWM pulse is measured in time – length – so we need to know the max length of a pulse. That is decided by the…
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.…