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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:
NEW RELEASE 📢: SimpleFOClibrary v2.2 - see release
- Sensor floating point error bugfix (initial solution) #83, #37
- Sensor class restructuring - slight API change - docs
- Restructured the generic code and simplified adding new mcus: IMPORTANT: an additional compiler flag needed for PlatformIO see issue and PlatformIO docs
- Removed initial jump #110, #111
- Double to float transformation of the code - performance increase by @sDessens (#100), @KaSroka (#100)
- Docs webiste translated to Chinese! 🎉: Awesome work 😃 by @MINQING1101, @Deng-ge-open-source and @mingggggggg
- New MCU support - docs
- Support for arduino leonardo #108
- Initial support for portenta h7 board in collaboration with
- Initial support for esp8266
- Low side current sensing initial support - docs
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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