deng-foc-v4

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DengFOC-v4 Hardware

Introduction

• DengFOC-v4
• MKS SimpleFOC v3.3 plus

DengFOC-v4

MCU: ESP32-WROOM-DA Module

Current Sensor: Inline current

Max Current: 5A each with cooling

AS-5600

open-loop.ino

  // Deng's FOC AS5600 test case：DengFOCV4
  #include <SimpleFOC.h>

  MagneticSensorI2C sensor0 = MagneticSensorI2C(AS5600_I2C);
  MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
  TwoWire I2Cone = TwoWire(0);
  TwoWire I2Ctwo = TwoWire(1);


  void setup() {
    Serial.begin(115200);

    I2Cone.begin(19, 18, 400000UL); // AS5600_M0
    I2Ctwo.begin(23, 5, 400000UL); // AS5600_M1
    
    sensor0.init(&I2Cone);
    sensor1.init(&I2Ctwo);
  }

  void loop() {
    sensor0.update();  // Remove if simple foc lib 2.20 and above.
    sensor1.update();
    Serial.print(sensor0.getAngle());
    Serial.print(" - ");
    Serial.println(sensor1.getAngle());
    Serial.println();
  }

PWM Test

open-loop.ino

  BLDCMotor motor = BLDCMotor(7);
  BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 12);

  // BLDC motor & driver instance
  BLDCMotor motor1 = BLDCMotor(7);
  BLDCDriver3PWM driver1 = BLDCDriver3PWM(26, 27, 14, 12);

  //目标变量
  float target_velocity = 10;
  uint32_t prev_millis;

  //设置报警电压
  #define UNDERVOLTAGE_THRES 11.1

  //串口指令设置
  Commander command = Commander(Serial);
  void doTarget(char* cmd) {
    command.scalar(&target_velocity, cmd);
  }

  void board_check();
  float get_vin_Volt();
  void board_init();
  bool flag_under_voltage = false;


  void setup() {}
  void loop() {}

Inline Current

Inline-current.cpp

#include <Arduino.h> 
#include "InlineCurrent.h"


#define _ADC_VOLTAGE 3.3f  
#define _ADC_RESOLUTION 4095.0f 

#define _ADC_CONV ( (_ADC_VOLTAGE) / (_ADC_RESOLUTION) )

#define NOT_SET -12345.0
#define _isset(a) ( (a) != (NOT_SET) )

CurrSense::CurrSense(int Mot_Num)
{
  if(Mot_Num==0)
  {
    pinA = 39;
    pinB = 36;
    //int pinC;
    _shunt_resistor = 0.01;
    amp_gain  = 50;
    
    volts_to_amps_ratio = 1.0f /_shunt_resistor / amp_gain; // volts to amps
    
    // gains for each phase
    gain_a = volts_to_amps_ratio;
    gain_b = volts_to_amps_ratio;
    gain_c = volts_to_amps_ratio;
  }
  if(Mot_Num==1)
  {
    pinA = 35;
    pinB = 34;
    //int pinC;
    _shunt_resistor = 0.01;
    amp_gain  = 50;
    
    volts_to_amps_ratio = 1.0f /_shunt_resistor / amp_gain; // volts to amps
    
    // gains for each phase
    gain_a = volts_to_amps_ratio;
    gain_b = volts_to_amps_ratio;
    gain_c = volts_to_amps_ratio;
  }
}
float CurrSense::readADCVoltageInline(const int pinA){
  uint32_t raw_adc = analogRead(pinA);
  return raw_adc * _ADC_CONV;
}
void CurrSense::configureADCInline(const int pinA,const int pinB, const int pinC){
  pinMode(pinA, INPUT);
  pinMode(pinB, INPUT);
  if( _isset(pinC) ) pinMode(pinC, INPUT);
}

void CurrSense::calibrateOffsets(){
    const int calibration_rounds = 1000;

    // 查找0电流时候的电压
    offset_ia = 0;
    offset_ib = 0;
    offset_ic = 0;
    for (int i = 0; i < calibration_rounds; i++) {
        offset_ia += readADCVoltageInline(pinA);
        offset_ib += readADCVoltageInline(pinB);
        if(_isset(pinC)) offset_ic += readADCVoltageInline(pinC);
        delay(1);
    }
    offset_ia = offset_ia / calibration_rounds;
    offset_ib = offset_ib / calibration_rounds;
    if(_isset(pinC)) offset_ic = offset_ic / calibration_rounds;
}

void CurrSense::init(){
    configureADCInline(pinA,pinB,pinC);
    calibrateOffsets();
}

void CurrSense::getPhaseCurrents(){
    current_a = (readADCVoltageInline(pinA) - offset_ia)*gain_a;// amps
    current_b = (readADCVoltageInline(pinB) - offset_ib)*gain_b;// amps
    current_c = (!_isset(pinC)) ? 0 : (readADCVoltageInline(pinC) - offset_ic)*gain_c; // amps
}

PID

DengFOC-Lensson9.ino

//2208 100kv
DFOC_M0_SET_ANGLE_PID(1, 0, 0, 100000, 30);
DFOC_M0_SET_VEL_PID(0.02, 1, 0, 100000, 0.5);
DFOC_M0_SET_CURRENT_PID(5, 200, 0, 100000);
DFOC_M0_set_Velocity_Angle(serial_motor_target());


//5010 360kv
DFOC_M1_SET_ANGLE_PID(0.2, 0, 0, 100000, 30);
DFOC_M1_SET_VEL_PID(0.05, 0.5, 0, 100000, 0.5);
DFOC_M1_SET_CURRENT_PID(5, 200, 0, 100000);
DFOC_M1_set_Velocity_Angle(serial_motor_target());