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askuric
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kv rating find examples
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‎examples/utils/calibration/find_kv_rating/encoder/find_kv_rating/find_kv_rating.ino

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/**
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*
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* Find KV rating for motor with encoder
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*
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* Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode.
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*
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* This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating.
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* - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases)
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* - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage
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*
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*/
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#include <SimpleFOC.h>
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// BLDC motor & driver instance
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BLDCMotor motor = BLDCMotor(11);
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BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
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// Stepper motor & driver instance
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//StepperMotor motor = StepperMotor(50);
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//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
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// encoder instance
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Encoder encoder = Encoder(2, 3, 8192);
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// Interrupt routine intialisation
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// channel A and B callbacks
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void doA(){encoder.handleA();}
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void doB(){encoder.handleB();}
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// voltage set point variable
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float target_voltage = 1;
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// instantiate the commander
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Commander command = Commander(Serial);
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void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
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void calcKV(char* cmd) {
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// calculate the KV
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Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
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}
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void setup() {
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// initialize encoder sensor hardware
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sensor.init();
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sensor.enableInterrupts(doA, doB, doC);
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// link the motor to the sensor
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motor.linkSensor(&sensor);
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// driver config
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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driver.init();
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// link driver
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motor.linkDriver(&driver);
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// aligning voltage
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motor.voltage_sensor_align = 3;
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// choose FOC modulation (optional)
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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// set motion control loop to be used
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motor.controller = MotionControlType::torque;
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// use monitoring with serial
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Serial.begin(115200);
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// comment out if not needed
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motor.useMonitoring(Serial);
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// initialize motor
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motor.init();
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// align sensor and start FOC
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motor.initFOC();
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// add target command T
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command.add('T', doTarget, "target voltage");
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command.add('K', calcKV, "calculate KV rating");
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target voltage : - commnad T"));
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Serial.println(F("Calculate the motor KV : - command K"));
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_delay(1000);
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}
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void loop() {
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// main FOC algorithm function
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// the faster you run this function the better
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// Arduino UNO loop ~1kHz
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// Bluepill loop ~10kHz
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motor.loopFOC();
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// Motion control function
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// velocity, position or voltage (defined in motor.controller)
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// this function can be run at much lower frequency than loopFOC() function
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// You can also use motor.move() and set the motor.target in the code
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motor.move(target_voltage);
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// user communication
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command.run();
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}

‎examples/utils/calibration/find_kv_rating/hall_sensor/find_kv_rating/find_kv_rating.ino

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/**
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*
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* Find KV rating for motor with Hall sensors
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*
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* Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode.
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*
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* This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating.
8+
* - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases)
9+
* - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage
10+
*/
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#include <SimpleFOC.h>
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// BLDC motor & driver instance
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BLDCMotor motor = BLDCMotor(11);
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BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
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// hall sensor instance
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HallSensor sensor = HallSensor(2, 3, 4, 11);
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// Interrupt routine intialisation
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// channel A and B callbacks
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void doA(){sensor.handleA();}
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void doB(){sensor.handleB();}
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void doC(){sensor.handleC();}
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// voltage set point variable
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float target_voltage = 1;
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// instantiate the commander
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Commander command = Commander(Serial);
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void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
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void calcKV(char* cmd) {
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// calculate the KV
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Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
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}
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void setup() {
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// initialize encoder sensor hardware
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sensor.init();
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sensor.enableInterrupts(doA, doB, doC);
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// link the motor to the sensor
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motor.linkSensor(&sensor);
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// driver config
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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driver.init();
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// link driver
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motor.linkDriver(&driver);
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// aligning voltage
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motor.voltage_sensor_align = 3;
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// choose FOC modulation (optional)
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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// set motion control loop to be used
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motor.controller = MotionControlType::torque;
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// use monitoring with serial
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Serial.begin(115200);
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// comment out if not needed
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motor.useMonitoring(Serial);
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// initialize motor
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motor.init();
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// align sensor and start FOC
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motor.initFOC();
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// add target command T
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command.add('T', doTarget, "target voltage");
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command.add('K', calcKV, "calculate KV rating");
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target voltage : - commnad T"));
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Serial.println(F("Calculate the motor KV : - command K"));
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_delay(1000);
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}
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void loop() {
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// main FOC algorithm function
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// the faster you run this function the better
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// Arduino UNO loop ~1kHz
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// Bluepill loop ~10kHz
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motor.loopFOC();
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// Motion control function
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// velocity, position or voltage (defined in motor.controller)
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// this function can be run at much lower frequency than loopFOC() function
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// You can also use motor.move() and set the motor.target in the code
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motor.move(target_voltage);
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// user communication
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command.run();
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}

‎examples/utils/calibration/find_kv_rating/magnetic_sensor/find_kv_rating/find_kv_rating.ino

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/**
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* Find KV rating for motor with magnetic sensors
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*
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* Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode.
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*
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* This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating.
7+
* - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases)
8+
* - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage
9+
*/
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#include <SimpleFOC.h>
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// magnetic sensor instance - SPI
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MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
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// magnetic sensor instance - I2C
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// MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
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// magnetic sensor instance - analog output
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// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
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// BLDC motor & driver instance
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BLDCMotor motor = BLDCMotor(11);
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BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
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// Stepper motor & driver instance
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//StepperMotor motor = StepperMotor(50);
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//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
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// voltage set point variable
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float target_voltage = 1;
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// instantiate the commander
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Commander command = Commander(Serial);
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void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
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void calcKV(char* cmd) {
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// calculate the KV
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Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
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}
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void setup() {
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// initialize encoder sensor hardware
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sensor.init();
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sensor.enableInterrupts(doA, doB, doC);
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// link the motor to the sensor
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motor.linkSensor(&sensor);
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// driver config
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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driver.init();
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// link driver
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motor.linkDriver(&driver);
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// aligning voltage
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motor.voltage_sensor_align = 3;
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// choose FOC modulation (optional)
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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// set motion control loop to be used
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motor.controller = MotionControlType::torque;
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// use monitoring with serial
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Serial.begin(115200);
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// comment out if not needed
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motor.useMonitoring(Serial);
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// initialize motor
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motor.init();
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// align sensor and start FOC
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motor.initFOC();
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// add target command T
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command.add('T', doTarget, "target voltage");
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command.add('K', calcKV, "calculate KV rating");
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target voltage : - commnad T"));
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Serial.println(F("Calculate the motor KV : - command K"));
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_delay(1000);
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}
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void loop() {
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// main FOC algorithm function
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// the faster you run this function the better
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// Arduino UNO loop ~1kHz
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// Bluepill loop ~10kHz
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motor.loopFOC();
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// Motion control function
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// velocity, position or voltage (defined in motor.controller)
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// this function can be run at much lower frequency than loopFOC() function
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// You can also use motor.move() and set the motor.target in the code
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motor.move(target_voltage);
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// user communication
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command.run();
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}

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