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We live in very exciting times 😃! BLDC motors are entering the hobby community more and more and many great projects have already emerged leveraging their far superior dynamics and power capabilities. BLDC motors have numerous advantages over regular DC motors but they have one big disadvantage, the complexity of control. Even though it has become relatively easy to design and manufacture PCBs and create our own hardware solutions for driving BLDC motors the proper low-cost solutions are yet to come. One of the reasons for this is the apparent complexity of writing the BLDC driving algorithms, Field oriented control (FOC) being an example of one of the most efficient ones.
The solutions that can be found on-line are almost exclusively very specific for certain hardware configuration and the microcontroller architecture used.
Additionally, most of the efforts at this moment are still channeled towards the high-power applications of the BLDC motors and proper low-cost and low-power FOC supporting boards are very hard to find today and even may not exist.
Therefore this is an attempt to:
- Initial current sensing support🎉
- Inline current sensors
- adaptive zero finding and shunt direction
- Implemented real torque control
- using voltage
- using current magnitude (one current)
- using FOC currents ( d-q currents ) - real foc control
- SVPWM full implementation d+q axis
- Simplified sensor implementation📢
- For new sensor implementation only one function necessary
getAngle()- Upgrade of the HallSensor implementation by @owennewo
- Support for Arduino DUE - everything except the 6PWM mode
- Support for ATMega328pb
- bugfix for the Teensy boards ( setting 3pwm )
- extended support for 2PWM stepper drivers - by @zjor
- included F macro for shrinking string memory usage - moved to programming memory
- disable phase support for 3pwm driver
- not yet for 6pwm
- rewritten
initFOC()
- can be skipped and outputs much more info
- align sensor: direction + zero offset + pole pair check
- align current sense
- sensor offset supported (
motor.sensor_offset)- refactored motor commands interface
- much more flexible and easy to extend
- very easy to add new commands and function callbacks
- implemented motor+pid+lpf commands of-the-shelf
- Added step/dir interface
- integrated as an optional communication channel
BEWARE 📢 slight API changes included
ControlTyperenamed intoMotionControlTypeControlType::voltagedoes not exist any more now -MotionControlType::torque
This video demonstrates the SimpleFOClibrary basic usage, electronic connections and shows its capabilities.
Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code.
The simplest way to get hold of the library is directly by using Arduino IDE and its integrated Library Manager.
Tools > Manage Libraries....Simple FOC library and install the latest version.File > Examples > Simple FOC.Clone or Download > Download ZIP.Arduino Libraries folder. Windows: Documents > Arduino > libraries.File > Examples > Simple FOC.cd #Arduino libraries folder
git clone https://github.com/simplefoc/Arduino-FOC.git
File > Examples > Simple FOC.For those willing to experiment and to modify the code I suggest using the minimal project builder minimal branch.
This code is completely independent and you can run it as any other Arduino Sketch without the need for any libraries.
All you need to do is:
This is a simple Arduino code example implementing the velocity control program of a BLDC motor with encoder.
NOTE: This program uses all the default control parameters.
#include <SimpleFOC.h>
// BLDCMotor( pole_pairs )
BLDCMotor motor = BLDCMotor(11);
// BLDCDriver( pin_pwmA, pin_pwmB, pin_pwmC, enable (optional) )
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8);
// Encoder(pin_A, pin_B, CPR)
Encoder encoder = Encoder(2, 3, 2048);
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
void setup() {
// initialize encoder hardware
encoder.init();
// hardware interrupt enable
encoder.enableInterrupts(doA, doB);
// link the motor to the sensor
motor.linkSensor(&encoder);
// power supply voltage [V]
driver.voltage_power_supply = 12;
// initialise driver hardware
driver.init();
// link driver
motor.linkDriver(&driver);
// set control loop type to be used
motor.controller = MotionControlType::velocity;
// initialize motor
motor.init();
// align encoder and start FOC
motor.initFOC();
}
void loop() {
// FOC algorithm function
motor.loopFOC();
// velocity control loop function
// setting the target velocity or 2rad/s
motor.move(2);
}
You can find more details in the SimpleFOC documentation.
Here are some of the SimpleFOClibrary and SimpleFOCShield application examples.
Find out more information about the Arduino SimpleFOC project in docs website
| Branch | Description | Status |
|---|---|---|
| master | Stable and tested library version | |
| dev | Development library version |  |
| minimal | Minimal Arduino example with integrated library |  |
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