Brushless Motor Torque Test for Robots (ODrive Controller)
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- Опубліковано 16 бер 2019
- I measured the torque from two cheap brushless motors, using ODrive controller. The purpose was to check if the static (holding) torque is close to the theoretical one, or if it is completely different. (Many my viewers told me that these motors perform badly at low RPM.) The tests shows that the measured torque is similar to the ideal theoretical torque. For Aerodirve motor the measured torque is equal to 88% of theoretical ideal torque.
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#Robotics #ODrive #Brushless - Наука та технологія
Thats the first time I've seen a guy use *his nuts* to measure Torque. Grreat Vid!
Thank you! :)
This is surprisingly relevant and useful info to a project I'm working on. That motor was the one I intended on using, but gearing down 90-216x. In fact, I was going to do torque tests on that motor too. Thanks for taking the time to do this, it's just what I needed.
Thank you for your comment. I am glad that this info is useful!
Thank you for your comments! The comments will help to promote the video.
HEY LAD . I NEED LIL ADVICE HERE ON ESCs AND VESCs . WELL I ORDERED 4600W 4x MOTORS AND I HEARD TO REACH THE MAXIMUM POWER I NEED SUPPLY THEM WITH 48V ........ WELL IS THERE ANY WAY I CAN FUK THE PEDAL TO HEAT THEM UP TO MAX WITH 22V-28V ??? BIG THANK YOU
Thank you for this video - A great mix of the "Engineering/Scientific Method" with theory and practical testing to close the loop.
Great stuff Sir !. Helped me to have a ballpark evaluation for the motor needed for my next project. Keep up the good work !.
Great and informative video! Looking forward to the new reducer design.
Thanks
Your information is absolutely invaluable. Thank you so much!
I don't really understand how the reducer from your previous video has anything to do with the low measured torque. The reducer seemed very efficient as you were able to spin it with just a couple of fingers. I'd love to understand how exactly you came to your conclusion, as I'm currently working on a very similar project for uni.
Excellent scientific process. No guesswork :) Looking forward to the results of your reducer investigation.
This.
Thank you for your job! Great set of videos
I like the way you took the data to determine "Efficiency" factor.
Very informative experiment and statistics. Thank you.
your information is very very usefull thanks!!
thanks for testing and very interesting videos!
Thank you for your inspiring comment!
This is excellent information. I'm going brushless servo as well.
woo, always great when you upload, but i think i'll wait a few minutes for 720p :-)
Great way to measure the torque! thank you for sharing.
Thank you for your comment!
ВентилейТор :)))ВентилейТорс :))) you make my day ... Thanks ...
I learned alot from your videos thanks bro
Thank you!
Thank you for your comment!
Came back to watch this video again after many years and am loving the unexpected f-bomb at 3:18 😂 Where's the Tested demerit badge for 'didn't account for calibration sequence range of motion?'
Nice work! You could also search for a lower KV motor. As it will have better internal windings (created for higher torque). The KV rating of the motor represents the rotations/volt. The more rotation the motor has, the lower the torque. It is true, the lower kv motors are way pricier, but you can find some on hobbyking that will work :D I recommend using sone around 200-250 kv, it will also make the reduction assembly smaller and easier to print. :D Looking forward to see more! Keep up the good work :D
Thanks for uploading such informative video.
Make a torque test for ac induction motor vs bldc motor of same wattage and rpm.
Thank you for uploading this great video, I always follow your new videos and would like to know about your future projects. One question: does the ODrive library implement any sort of PID controller for achieving the desired position?
Don't forget there's a difference between dynamic and static torque
Thank you! Another great video packed with useful data. Would you ever consider doing a comparison between an odrive and a traditional ESC (with a microcontroller) for controllability and torque?
This would be extremely difficult. As a traditional ESC does not have position control. Thus for robotics application traditional ESC are not very useful. Thank you for your comment!
thanks alot
big project
Good video and explanation, thank you. Can I ask you: what is the encoder you're using? Can you give me some details about it, maybe a link. Thanks and keep up the good work!
Danutz odrive
Watching all your videos...what is that long power resistor for?
That resistor is simply used as a brake resistor. It will dissipate the braking energy into heat. Instead of the resistor you could also add some sort of regenerative braking of course.
Very Nice. What is the measuring instrument you used?
Thank you for this video, but how do you do to stop the motor in a specific position? I want to use the brushless motor like stepper motor.
What are the specs of your twp battery packs please? Great video
I've just recently done the same. Putting on the encoders is the most fun during this exercise. The very first 10 amps run running with 213 grams seems to be the most efficient. As we all need torque most, you'll want to go for your thirds nuts run with 50 Amps, did I get this right?
I think there may be two different torque ratings for the motors. I have not personally looked at the data sheets for those motors but typically motors have a static or locked rotor torque and a dynamic torque varies with RPM. This could explain the differences in your measurements and the published values, since you are only measuring the locked rotor torque.
@Skyentific I tried to measure the torque of a BLDC motor with ESC controller. And what I observed is that when I increase the speed, I get more Torque.
My understanding was, the torque of a DC motor is independent of the speed. Please correct me, if it's wrong.
Can you please let me know the speed threshold you kept for this test and if you changed it within the test?
Thanks for such a great stuff...
Adjusting you microphone would help us to unstand you better and make the video more enjoyable.
Thank you for sharing the experimentation !
Hi man. I am learning a lot from your videos . I will try to contribute something soon . I think it would be a great idea to share a link in the description for the motors tested . It would help me a lot to buy cheap motors . I believe you can make a small commission if people buy products after navigating from your page.
Wow, amazing! I had no idea that brushless motors can be THAT strong WITHOUT any reductor and that they can be controlled almost like steppers. It's very interesting i should say :) Seems like you replied to some comment, a regular ESC for airplanes or drones can't deliver such performance. I wonder if ESC for RC cars would perform good considering that RC cars require more of the torque, or any regular ESC is bad and need a proper driver like this? Honestly, my budget is not that big and i would like to have something cheap what can just rotate motor back and forth with maximal torque and PWM for controlling the speed, just like some brushed DC motor drivers. Are there any good variants like that, and if so, could you suggest me something please?
Hello.. why did you connect the encoder? There is the need of encoder in torque control mode?
@Skientific can you give your petg printing speed and % used to print please ?
How do we do the exact calibration of BLDC motor when interfaced with Odrive?
Is the Odrive basically the only controller in town?
I quite frankly dont have the thousands it would cost to use a system this elaborate, but hundreds sounds about right so finding basically an Odrive that doesnt cost 100 bucks and could power small hobby motors with low amperage and voltage sounds great.
can you show me the angle sensor?where can i buy it?
the power of nuts :)
Yes! :)
What if we increase the voltage will it affect the toque??
How did you calculate the theoretical torque? Using T = (3/2) * (1/sqrt(3)) * (60/2*pi) * (I / Kv) I get slightly different answers to you. Thank you.
hi, are you using rc or fpv brushless motor?
The Nutty Professor.
Nice job! However, you shouldn't say torque when you're computing force, although at the end of the video you do it right (i.e. multiplying the force by the length of the link). Anyway, it's a great video, congrats!
what was the temperature on 40A?
Nice robotic arm! How can you control the output torque?
ODrive uses a special motor driver chip that can do current limiting. Since torque is proportional to current, that gives torque control.
@@dekutree64 Thank you for replying! Would you happen to know the name of that chip?
@@peterrizk4915 Texas Instruments DRV8301. Check out the ODrive web site. It's all open source and well documented.
Is really that motor consuming 40A? Is not that to much current?
What motor did you use🫤?
Спасибо ! Почему то произношение очень похоже на английское произношение русскоязычного человека ))) хорошее видео, хотя и немного растянутое
what motor is it?
ABS or PLA?
0xDEADBEFF , PETG from Prusament, printed on Prusa i3 MK3
The torque "efficency" you are seeing at around 87% is actually a missing factor of sqrt(3)/2 in your torque equation.
See here for details: things-in-motion.blogspot.com/2018/12/how-to-estimate-torque-of-bldc-pmsm.html
Thank you for that link. Many other great articles linked from there as well.
Thank you for the great link and for explaining the sort(3)/2!
Roughly double the torque for a 5% efficiency loss, all controllable in software? Sounds like a decent trade to me. :V
cool video on the motor, but your math is wrong 0.12*1000g would be 0.12Nm, its the same for the other columns too.
also is there any settings on the o'drive that sets up and detects stalls?
0.12m*1000g = 0.12m * 1kg = 0.12m * 10N = 1.2 N*m. Everything is correct...
Good question. I don't know. But, at least, you can monitor the current from in ODrive. And this gives an idea about the stall. Check out my first video about High Five robot.
@dasraiser Math is correct. You have mistaken kgm for Nm. i.e. 0.12m*1kg = 0.12kgm, to convert kgm to Nm you have to multiply by the gravity acceleration constant g (~10m/s^2), Force (N) = mass (kg) x acceleration (m/s^2). So answer is 0.12kgm = 1.2Nm
@@Skyentific omg yes lol ~10Nm to a kg, thank you :)
Думал он индус, но после "вентилейторов" сомневаюсь)
sub based on name. I'm a skyentist.
for holding torque, the way to go is a closed-loop stepper. The best is of course a cheap servo from china... 300usd each. a bargain for any real world automation.
im gonna change the like count from 911 to 912 cause im not american
just use constant current mode man
0:00 Hewwo ewwyone owo
I think you need dynamometer🤔🙂
Интересная инфа, на русском когда выедет?
Мне кажется или он русский?
Need better microphone.
Мужик, 100500 лет назад придумали червячную передачу, перестань мучить драйвера и планетарки