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BLDC (Brushless DC) Motor Component

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The BldcMotor implements the Field-Oriented Control (FOC) algorithm with support for multiple transforms to drive voltage (such as Sinusoidal and Space Vector). It supports the following motion control configurations (which can be changed dynamically):

  • Closed-loop angle
  • Closed-loop velocity
  • Open-loop angle
  • Open-loop velocity

Note: currently the code has some support for Torque control, but that requires current sense - for which I don't yet have the hardware to support the development of.

The BldcMotor should be configured with a BldcDriver and optional Sensor (for angle & speed of the motor), and optional CurrentSensor (for measuring the phase currents of the motor and providing torque control).

Example

The example shows the use of the BldcMotor component to drive a BLDC motor (such as a tiny gimbal motor) using Field-Oriented Control (FOC) in both open-loop and closed-loop control schemes for both position and velocity control.