Це відео не доступне.
Перепрошуємо.
B-G431B-ESC1 running home-made FOC with position control with mini gimbal motor (test)
Вставка
- Опубліковано 18 січ 2022
- Testing january release of a custom FOC algorithm for STM32G4 Discovery ESC kit, with position, velocity and torque control.
Power supply : 15V
Motor : 2204 260Kv (7 pole-pairs)
Encoder : AS5600 I2C (12bits, 4KHz refresh rate, I2C 1Mbps)
Board : B-G431B-ESC1
www.st.com/en/...
FOC running at 40KHz (10us processing time)
hackaday.io/pr...
Great work man
Just received some of those boards to try simplefoc
is it possible to use it in lead screw or belt drive instead of standard stepper?
looks great! did you write firmware by scratch or use STM32 x-cube-mcsdk?
Hello; Thanks. From scratch (reading theory of FOC) and using standard C/C++ and STM32CUbe and new ST HAL.
Thanks for sharing, that is impressive performance. I just got the same boards, I am wondering if you tried the Simple FOC firmware and if so what did you implement in your own firmware that it didn't have? Thanks!
Yes, a long time ago, I tried SimpleFOC and burnt a brushless motor. So I developped my own solution. Anyway, SimpleFOC has evolved and is supported. It should be a good option for you if you just want a "ready to use" solution! :-)
👍
This looks awesome, man! Did you also implement regenerative braking in your code?
Thanks. No regenerative braking at the moment.
@@xterminhate Thanks for the info! I am trying your firmware (03-BETA) my G431B-ESC1 boards. The sensors seem to read correctly. However, when I press the push button, the motor will not rotate to do the calibration. Any suggestion on what can go wrong? Help is greatly appreciated.
@@jerrytang2207 I guess that the motor characteristics should be set through GUI before. Let's chat using Hackaday messages. Bye.
Super!! I am looking for similar bldc servo driver but i am not able to find a low cost single driver board online. Please suggest me one if you know any.
Hello. The ST ESC G431 Discovery Kit I am using IS the cheapest I know...but chip shortage...good Luck!
Hi, I'm trying to use the B-G431B-ESC1 too and I would like to know how did you write the firmware to allow the motor to spin in both directions (clockwise, counter-cw)? If I'm not mistaken you need to switch the signals for 2 of the 3 phases of the motor, right? Also, how do you send the command about the direction? By reading the datasheet I have seen that the
only input of the board is a PWM signal, the CAN/UART is used only for telemetry, I was thinking that I could probably use the user button pin to receive such signal from the central control unit.
Hello! My firmware is based on FOC algorithm. the sign of the torque current setpoint control the direction. If ou don't need any feedback, you can program the PWM input : zero/brake velocity at 1.5ms, CW from 1.5 up to 2 ms pulse width, and CCW from 1.5 down to 1 ms. If you need feedback from ESC, you may program the serial or CAN port with a custom protocol (register access for instance, a register for velocity, sign of velocity value is direction). Good luck!
this looks great. is the firmware an OpenSource project we can contribute to? Can this be used an alternative to a stepper motor solution for robot arms?
Thank you! Of course. I am using it for legged robots. There is a link to thé hackaday project in the description. You can PM me on hackaday too : pat92fr.