Recycled e-Scooter #4 Drive the BLDC with SimpleFOC

fyaocn

19 Oct 2023

#4 Drive the BLDC with SimpleFOC

1 introduction
2 Get data from Hall sensor
3 Get Angle with SimpleFOC Hall sensor
4 Drive the MOTOR

1 introduction

In this blog, drive the BLDC with Seeeduino XIAO and motor driver board up to 48V.

2 Get data from Hall sensor

Connect the Pin 0,1,2 with Hall sensor pin V,W,U,

Then run the code,Then the axis with hand, the hall sensor feed back readings according to phase order

3 Get Angle with SimpleFOC Hall sensor

The use simpleFOC library and connect the Xiao with motor driver board

The similar result return

4 Drive the MOTOR

Connect the motor and DCpower of 12V

run the code,

#include <SimpleFOC.h>


// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(13);
//BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
BLDCDriver6PWM driver = BLDCDriver6PWM(5, 8, 4, 9, 6, 8, 7);

// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);

// hall sensor instance
HallSensor sensor = HallSensor(1, 2, 0, 13);

// Interrupt routine intialisation
// channel A and B callbacks
void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doC(){sensor.handleC();}


// voltage set point variable
float target_voltage = 2;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }

void setup() { 
  
  // initialize encoder sensor hardware
  sensor.init();
  sensor.enableInterrupts(doA, doB, doC); 
  // link the motor to the sensor
  motor.linkSensor(&sensor);

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 12;
  driver.init();
  // link driver
  motor.linkDriver(&driver);

  // aligning voltage
  motor.voltage_sensor_align = 3;
  
  // choose FOC modulation (optional)
  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

  // set motion control loop to be used
  motor.controller = MotionControlType::torque;

  // use monitoring with serial 
  Serial.begin(115200);
  // comment out if not needed
  motor.useMonitoring(Serial);

  // initialize motor
  motor.init();
  // align sensor and start FOC
  motor.initFOC();

  // add target command T
  command.add('T', doTarget, "target voltage");

  Serial.println(F("Motor ready."));
  Serial.println(F("Set the target voltage using serial terminal:"));
  _delay(1000);
}


void loop() {

  // main FOC algorithm function
  // the faster you run this function the better
  // Arduino UNO loop  ~1kHz
  // Bluepill loop ~10kHz 
  motor.loopFOC();

  // Motion control function
  // velocity, position or voltage (defined in motor.controller)
  // this function can be run at much lower frequency than loopFOC() function
  // You can also use motor.move() and set the motor.target in the code
  motor.move(target_voltage);

  // user communication
  command.run();
}