I watched this video (the others too) when I started working on my first FOC. now I designed and implemented a FOC on a Bldc from scratch. The results can be seen in my videos. Thank you, your videos helped me so much!!:)
I am very grateful for you providing this video. Been trying to understand how FOC for BLDC motors work through reading articles which provide only two sentences of explanation followed by the equations. Finally, after watching this video I am beginning to understand the topic. Your explanations and the animations were really good and very helpful. Thank you a lot! :)
Melda， Thank you so much for preparing such an engaging video series. Although I have been working in motor control for many years, your illustrated explanations have helped me fill in many details that I had previously overlooked when explaining control principles to others or analyzing and troubleshooting motor control issues. Whether you are a novice just starting to learn about motor control or a seasoned professional, there is something to gain from your presentation. Once again, thank you and I wish you a happy and fulfilling work and personal life!
This is the best video I have come across on this subject. This is how a teacher has to tackle all the subjects then he goes to the equations. but you are the best
So you are controlling the magnetic field to always be 90 degrees to the affected rotor, and the motor speed and torque by the amplitude of the magnetic force. You do this by sensing the rotor position, the current and voltage going through the coils, and controlling the current of each coil, to keep the magnetic field at 90 degrees.
Fantastic series! I do not understand why you need the controllers for vq and vd. With the Clarke/Park transformation, this has become a purely geometrical problem. With a high precision angle sensor, you should know in which part of the sine all three phases should be to achieve a 90 degree angle. Am I missing something?
Nice tutorial. Thanks for that. I see everywhere hot to control a motor in case it is already rotating. It doesn't seem complicated. But how do I start the motor? I can not imagine that the inverter would give the rotor a "kick" and let it run before the control algorithm takes control over the inverter when people sitting in a car.
You know the position of the motor before it starts to rotate, or you only need a kick in the size of one encoder increment, the resolution is so high that you dont feel any kick. She could not show it in her animation we would not see it on the screen.
Thanks for the great Videos. Ich habe a question. You Said in the Video Id doesnt Producer Torque. But why the Torque equation is T= p*(psid*Iq + psiq*Id)?
I need your help if you don't mind, I'm in the process of designing a pancake BLDC motor of a diameter of around 30cm with 120 poles to drive a record player 33rpm and 45rpm, I chose a large diameter with that many poles to have a very smooth speed, I just need a FOC motor controller and encoder design that goes with it.
Very nice explanation... now I have to find how this is applied to induction motors or more exactly how the controller knows when the vector is 90deg or not
Hi! I'm building a bicycle with a tiny motor and a 28" cnc machined rim-gear to compensate the gear ratio difference. I solved everything out except the esc issue. I'm pretty amateur on building ESCs and recently read about FOC controllers making the motor run cooler and smoother. Then I found the microcontroller AMT49406, which requires the less electronics. Would you recommend using FOC if I can't order the AMT49406, does it worth the effort? I'm ordering from Turkey btw
Hello how's it going all? Hey - I'm often asked the question - "What does LM mean?" I think its "limit modulation" - it seems to limit the rate of increase in current. Is this fing correct? also AN - another mysterious acronym that seems to have less noticeable impact than LM but is recommended to be set at 1-8 for most hub motors and 8-16 for IPMs. what is it and how does it affect motor performance?
melda hanım ağzınıza sağlık türkçe sini bekliyoruz . bu memleketin insanı da faydalansa zaten yeterince ingilizce kaynak var . 50 kişilik bir grubumuz var foc adına birgün gelip anlatırmısınız bi meet yapsak öğrenci arkadaşlar faydalanır . Saygılar..
At around 7:14, when the stator field is aligned with the quadrature axis there are always 3 currents present, even when directly aligned with a specific coil's field (e.g. stator field aligned with A). Would it be more efficient if only current through coil A was present at this moment? Likewise when the quadrature axis is aligned with B and C
The coils can both pull or push the magnets. BLDC motors do as you described and are very efficient. But I fell that there are always a contribution to be had by keeping a constant average voltage and current flowing. If the drive does not energize all 3 coils at some point the rotor will bleed it’s energy to do it, BLDC motors use this signal to find the zero crossing, but since the FOC are usually feed the position externally this is not needed. Writing this I realize that at holding torque or startup it is probably beneficial to energize only 2 coils as you said. All that I said could be wrong, so take it with a grain of salt.
I wondered the same thing and I think I found the answer. Say the yellow arrow is pointing to the upper right corner, so the green arrow is in the same direction as the yellow arrow. For the green arrow to take over alone, it would have to be longer. That means the maximum current of the phase would be higher. If you take the maximum current of the power amp as a given, the achievable torque is higher than it would be otherwise because the red and blue arrows help a green arrow that is limited in size. If you play the animation, you can see that the green arrow is never long enough to go from the center to the inner ring. This is in contrast to BLDC motors, which can only have two arrows to reach the inner circle (because one phase is inactive at any given time). So if the individual arrows keep the same length (power amp), they cannot reach the inner circle at all angles, meaning less average torque for the same maximum current.
Nice explanation.. Does V/f also remains constant in vector controlled VFD ? i.e. if a motor which is rated as 460V/60Hz is made to run at 30 Hz, does the voltage still remain 460V ?
Great Video! Phenomenal. One question. In the dq frame where the error signal is produced by comparing the feedback signals with the reference signal, in a PMSM the torque producing component reference is 0 right? what would the signal q component reference be for an induction machine? Thank You (what i basically mean in PMSM the id current axis stays 0 while the iq axis remains at its maximum, or anywhere between: And in induction machine how are id and iq summed up to result a rotor vector?)
Here's my two-cents answer. In an induction motor, Id is the stator magnetizing current and Iq is the rotor current. Id creates the stator field (phi_s) and also induces Iq which is proportional to the slip frequency (until a certain level). Then, torque is generated by the interaction of the phi_s and Iq.
The animations shown in the videos are created with MATLAB. Feel free to check out this GitHub repo where you'll find scripts that let you animate BLDC motors: github.com/mathworks/Design-motor-controllers-with-Simscape-Electrical
@@user-fo7ox3gb9b No, I'm not sure, but FOC does it's thing by reducing the PWM "on time" (among other tricks) to emulate a sine wave, while a square-wave does not. Plot a sine wave inside a square wave - which has the greater area? And how sure are you about your 90-degree statement? Magnetic fields are not constant, and 90 degrees between 2 excited phases is the point where the field is exponentially the *least*. Yes, it's the best logical *angle*, but it's also the lowest *strength*. FWIW - I believe FOC is garbage - even if the math worked out, it's never going to be correct in the real world. Vastly better than FOC would be a learning system based on feedback, so the MCU works out for itself (in real time, and continuously variably) the precise transforms that measurably are the best for the exact motor+rpm+voltage - sometimes that's easy (e.g. propeller in air - input easily affects output) sometimes that's really hard (e.g. skateboard input hard to judge because of terrain) - but either way, it learns, so it's going to beat any "canned" concept every time.
I think you misunderstand how motors are wired, or what PWM is. There are 6 FETs connected to + and - on one side, and 3 phase windings on the other: there is no magic that tells electrons to go through a motor instead of short-circuiting to a neighboring FET - so there's no possible way to excite 3 phases at once. FETs are either on of off, there's no inbetween. If you cannot explain FOC, or in your words "not going to try to convince" - it sounds like you want to win an argument, instead of understand the topic. HEAPS of stuff on the internet is untrue and wrong and misleading, you need to fully understand it yourself before you can trust it. If you google around a lot more on this topic as I have, it becomes clear that there are no real working explanations - just fake examples from vendors trying to sell chips, and bloggers in RC forums who basically repeat what they see in this video without understanding the electronics. As for your silly "Full Stop" statement - besides that being both rude and indicative that you're not interested in looking at the math properly, I suggest you go out and buy a pair of magnets. Play with them, and take a note of whether or not they "pull harder" when they're closer. That's an exponential relationship missing from the maths here.
I watched this video (the others too) when I started working on my first FOC. now I designed and implemented a FOC on a Bldc from scratch.
The results can be seen in my videos.
Thank you, your videos helped me so much!!:)
That's awesome. We are happy to see that our videos made a difference for you!
I am very grateful for you providing this video. Been trying to understand how FOC for BLDC motors work through reading articles which provide only two sentences of explanation followed by the equations. Finally, after watching this video I am beginning to understand the topic. Your explanations and the animations were really good and very helpful. Thank you a lot! :)
Glad it was helpful!
Very useful series of videos on Brushless motor control. Thank you for your effort in creating and sharing these videos with us.
Melda， Thank you so much for preparing such an engaging video series. Although I have been working in motor control for many years, your illustrated explanations have helped me fill in many details that I had previously overlooked when explaining control principles to others or analyzing and troubleshooting motor control issues. Whether you are a novice just starting to learn about motor control or a seasoned professional, there is something to gain from your presentation. Once again, thank you and I wish you a happy and fulfilling work and personal life!
This is by far one of the best videos with proper description. Keep up the good work!
One of the best videos so far on FOC!
Melda, you have truly made me proud. Thanks for a very clear and understandable explanation.
Having to watch this multiple times. Each time a little light blinks. Great instructional videos.
this explanation is brutally awesome and one of the best things I have ever seen in my life (including movies)
This is the best video I have come across on this subject. This is how a teacher has to tackle all the subjects then he goes to the equations. but you are the best
ImO simply one of the best videos on the web regarding FOC basic explaination
The visual explanation in this video is magnificent!
the animation really helps to understand and get the background
A great presentation with impressive animation. Thank you.
Excellent presentation! The graphics are superb and your explanation was great. Nice work!
Hi Brian, remember me?
One of the best helpful video on FOC. Thank you.
Best explanation and animation I have ever found
Dört video da temiz ve anlaşılır anlatımınızla mükemmel olmuş. Ellerinize sağlık...
Thank you so much for the BLDC motor control series.. very useful to start simulation with Matlab Simulink
Explanation and representation is great. Thanks
Really simple to understand visually!
So you are controlling the magnetic field to always be 90 degrees to the affected rotor, and the motor speed and torque by the amplitude of the magnetic force. You do this by sensing the rotor position, the current and voltage going through the coils, and controlling the current of each coil, to keep the magnetic field at 90 degrees.
very helpful. Many thanks for your series !
Beautiful Video. God bless you all
Fantastic series!
I do not understand why you need the controllers for vq and vd. With the Clarke/Park transformation, this has become a purely geometrical problem. With a high precision angle sensor, you should know in which part of the sine all three phases should be to achieve a 90 degree angle. Am I missing something?
thank you so much you save me , I was struggling to understand foc
Great explanation of the core concept, thank you!
Very good explanation. Thank you for all the details.
could not be clearer. Thanks a lot!!!
Great video, this solved my worry. Thank you
Best explanation
Great Video.
One Doubt - Wouldn't we also require the angle measurement of the rotor for the clarke/park and inverse clarke/park transformations?
Great, both presenter and presentation
Incredible presentation!
Very helpful. Thankyou
Very clear explanation, Thanks for the video...
You are welcome!
Nice tutorial. Thanks for that. I see everywhere hot to control a motor in case it is already rotating. It doesn't seem complicated. But how do I start the motor? I can not imagine that the inverter would give the rotor a "kick" and let it run before the control algorithm takes control over the inverter when people sitting in a car.
You know the position of the motor before it starts to rotate, or you only need a kick in the size of one encoder increment, the resolution is so high that you dont feel any kick. She could not show it in her animation we would not see it on the screen.
Amazing video. I finally understand this with your help Thanks
This was really good. Thank you
Thanks for the great Videos. Ich habe a question. You Said in the Video Id doesnt Producer Torque. But why the Torque equation is T= p*(psid*Iq + psiq*Id)?
I need your help if you don't mind, I'm in the process of designing a pancake BLDC motor of a diameter of around 30cm with 120 poles to drive a record player 33rpm and 45rpm, I chose a large diameter with that many poles to have a very smooth speed, I just need a FOC motor controller and encoder design that goes with it.
Really well explained!
can we apply field oriented control to l6235 driver
Very nice explanation... now I have to find how this is applied to induction motors or more exactly how the controller knows when the vector is 90deg or not
This is an excellent explanation, much better than the "lesics" channel trash
How to calculate the Iq reference from the parameters of motor, such as voltage, current and power? Thank you for your video!
How do we know suitable value of Iq reference?
I have a question. How do I get Vd and Vq?
how do we find the direction of the rotor field?
Very nice explanation. Thank you.
I have learned how to control motors and how to live decently at one go. I have to minimize my ID and maximize IQ :D
Hi! I'm building a bicycle with a tiny motor and a 28" cnc machined rim-gear to compensate the gear ratio difference. I solved everything out except the esc issue.
I'm pretty amateur on building ESCs and recently read about FOC controllers making the motor run cooler and smoother.
Then I found the microcontroller AMT49406, which requires the less electronics. Would you recommend using FOC if I can't order the AMT49406, does it worth the effort?
I'm ordering from Turkey btw
Mam,I want to know inverter air conditioner compressor has technology? This technology has it? Please help
Hello how's it going all? Hey - I'm often asked the question - "What does LM mean?" I think its "limit modulation" - it seems to limit the rate of increase in current. Is this fing correct? also AN - another mysterious acronym that seems to have less noticeable impact than LM but is recommended to be set at 1-8 for most hub motors and 8-16 for IPMs. what is it and how does it affect motor performance?
this is gold
melda hanım ağzınıza sağlık türkçe sini bekliyoruz . bu memleketin insanı da faydalansa zaten yeterince ingilizce kaynak var . 50 kişilik bir grubumuz var foc adına birgün gelip anlatırmısınız bi meet yapsak öğrenci arkadaşlar faydalanır . Saygılar..
At around 7:14, when the stator field is aligned with the quadrature axis there are always 3 currents present, even when directly aligned with a specific coil's field (e.g. stator field aligned with A). Would it be more efficient if only current through coil A was present at this moment? Likewise when the quadrature axis is aligned with B and C
The coils can both pull or push the magnets. BLDC motors do as you described and are very efficient. But I fell that there are always a contribution to be had by keeping a constant average voltage and current flowing. If the drive does not energize all 3 coils at some point the rotor will bleed it’s energy to do it, BLDC motors use this signal to find the zero crossing, but since the FOC are usually feed the position externally this is not needed. Writing this I realize that at holding torque or startup it is probably beneficial to energize only 2 coils as you said. All that I said could be wrong, so take it with a grain of salt.
I wondered the same thing and I think I found the answer. Say the yellow arrow is pointing to the upper right corner, so the green arrow is in the same direction as the yellow arrow.
For the green arrow to take over alone, it would have to be longer. That means the maximum current of the phase would be higher. If you take the maximum current of the power amp as a given, the achievable torque is higher than it would be otherwise because the red and blue arrows help a green arrow that is limited in size. If you play the animation, you can see that the green arrow is never long enough to go from the center to the inner ring.
This is in contrast to BLDC motors, which can only have two arrows to reach the inner circle (because one phase is inactive at any given time). So if the individual arrows keep the same length (power amp), they cannot reach the inner circle at all angles, meaning less average torque for the same maximum current.
Nice explanation..
Does V/f also remains constant in vector controlled VFD ?
i.e. if a motor which is rated as 460V/60Hz is made to run at 30 Hz, does the voltage still remain 460V ?
Amazing Explanation..Thanks a lot!
This video helped me a lot
Useful video
Extremely helpful
another excellent video
Thank you
Melda hanım, açıklayıcı sade bir içerik olmuş, teşekkürler..
Great Video! Phenomenal. One question. In the dq frame where the error signal is produced by comparing the feedback signals with the reference signal, in a PMSM the torque producing component reference is 0 right? what would the signal q component reference be for an induction machine? Thank You (what i basically mean in PMSM the id current axis stays 0 while the iq axis remains at its maximum, or anywhere between: And in induction machine how are id and iq summed up to result a rotor vector?)
Here's my two-cents answer. In an induction motor, Id is the stator magnetizing current and Iq is the rotor current. Id creates the stator field (phi_s) and also induces Iq which is proportional to the slip frequency (until a certain level). Then, torque is generated by the interaction of the phi_s and Iq.
may u make a tutorial of published paper?? please replay me
where can i find this model of FOC?
Birde türkçesini yayınlarsanız çok kişi faydalanacak emeğiniz için teşekkürler
thank you sister
Good video, I hope to learn in detail about MPC control for beginning, please.
ua-cam.com/video/8U0xiOkDcmw/v-deo.html
ua-cam.com/video/cEWnixjNdzs/v-deo.html
ua-cam.com/video/dAPRamI6k7Q/v-deo.html
ua-cam.com/video/hkYf-Chqwdw/v-deo.html
thank you very much !
Is this an enough method to do precision control?
May I asking for paper as a tutorial please its too complicated
This is for which course? Electrical engg or Mechanocal engg? Anyone can tell me the specific course/domain name?
Mechatronic engg :P
thanks alot.............................
think you so much
thanks a lot
good
Super
Quite helpful
omg i just understood the whole semester in 10 minutes...why oh why are 99% of teachers so bad :(
Nice Explanation. Which software do you use to create such animations?
The animations shown in the videos are created with MATLAB. Feel free to check out this GitHub repo where you'll find scripts that let you animate BLDC motors: github.com/mathworks/Design-motor-controllers-with-Simscape-Electrical
@@meldaulusoy8389 thank you so much Abla.It made me inspired to see you in under the MATLAB content.
Thanks!!
Tnx
谢谢分享
@1:30 the second magenta arrow is full-length. That's horribly misleading - is should not be any longer than the shortest length in the BLDC example.
@@user-fo7ox3gb9b No, I'm not sure, but FOC does it's thing by reducing the PWM "on time" (among other tricks) to emulate a sine wave, while a square-wave does not. Plot a sine wave inside a square wave - which has the greater area?
And how sure are you about your 90-degree statement? Magnetic fields are not constant, and 90 degrees between 2 excited phases is the point where the field is exponentially the *least*. Yes, it's the best logical *angle*, but it's also the lowest *strength*.
FWIW - I believe FOC is garbage - even if the math worked out, it's never going to be correct in the real world. Vastly better than FOC would be a learning system based on feedback, so the MCU works out for itself (in real time, and continuously variably) the precise transforms that measurably are the best for the exact motor+rpm+voltage - sometimes that's easy (e.g. propeller in air - input easily affects output) sometimes that's really hard (e.g. skateboard input hard to judge because of terrain) - but either way, it learns, so it's going to beat any "canned" concept every time.
I think you misunderstand how motors are wired, or what PWM is. There are 6 FETs connected to + and - on one side, and 3 phase windings on the other: there is no magic that tells electrons to go through a motor instead of short-circuiting to a neighboring FET - so there's no possible way to excite 3 phases at once. FETs are either on of off, there's no inbetween. If you cannot explain FOC, or in your words "not going to try to convince" - it sounds like you want to win an argument, instead of understand the topic. HEAPS of stuff on the internet is untrue and wrong and misleading, you need to fully understand it yourself before you can trust it. If you google around a lot more on this topic as I have, it becomes clear that there are no real working explanations - just fake examples from vendors trying to sell chips, and bloggers in RC forums who basically repeat what they see in this video without understanding the electronics.
As for your silly "Full Stop" statement - besides that being both rude and indicative that you're not interested in looking at the math properly, I suggest you go out and buy a pair of magnets. Play with them, and take a note of whether or not they "pull harder" when they're closer. That's an exponential relationship missing from the maths here.
👍
Wow, very pretty! Could I interest you in a cup of coffee some time?
Cute baby
Attractive female presenter makes it harder to focus on the technical problem.
It's not F.O.C, it's FOC. Wantsumfoc?
Thanks a lot