In this video I demonstrate the haptic control using my bldc motor controller. It is running sensorless field oriented control (FOC) from standstill in closed loop. Instagram: / skycurve.dev Blog: skycurve.blogspot.com/p/firmw...
That's not his controllers... I mean that's not his invention. It is normal BLDC ESC with back emf sensing and measuring current unit. On that data you can do whatever you want, for example FOC (Field Oriented Control)
@Ma R believe me, it isn't possible to get the position (which you need for FOC) at standstill and low-speed using back-emf ;-) Back-emf does not exist at standstill. One need some sort of HFI which is not like you call it 'normal BLDC ESC' for sure.
@@skycurve875 There's a workaround to that, you can input a balanced 3 phase current in your stator and produce a rotating field from that. The rotor will follow the stator field and once the motor is spinning you can estimate rotor position from back EMF and switch to FOC control. I don't think you can do that to run a position control such as in your video, though.
Nice work, man! Were you able to measure the precision of your angle estimation for that control? Or you're not estimating the rotation angle at all? It got me thinking...
chris is everywhere... I might ask you since you probably know: what is the smallest size position controlled motor you can use, that can go multiple revolutions with good torque? Like a classical hobby servo, but it doesnt have endstops.
That's looks amazing, and also mind-boggling. The sensorless Position tracking means If I'm not wrong, ur injecting High frequency current into the stator poles and measuring the change in inductance due to Rotor magnets Position (aka Rotor pos.). Correct me if im wrong. Can you share the specs of your motor controller. And what else control algorithm your using to keep both motor in tune with each other. Thanks.
Could you please clarify what sensor-less means here ? According to my understanding if we use sensor-less rotor position algorithm it gives rotor position for electrical degree what repeat itself every rotor pole-pair. However you are able to control mechanical angle what probably not possible with conventional sensor-less rotor position detection algorithm.
Notice at the start of vid.( before the beginning ), the motors were already powered up...& initialisation done..... Then vid. started. @ every new power up initialisation is done... Physical orientation of rotor initially aligned ( approx.) beforehand..then they are powered up .
your project is awesome, I've been looking for something like that, but all projects have its limitations... VESC does not run easily in low speeds, SimpleFOC only works with sensored motors... I'm looking forward to know how you did it. Even if you sell it, please remember to documentate well how to use it, the other platforms just assume you already know everything about BLDC, or assume you don't want to understand any of the engineering behind it and just want to use it right out of the box.
Hallo Andreas, ich hab mir deinen Blog angesehen. Beeindruckend deine Arbeit über die vielen Jahre. Frage: Kann man dein Konzept auch für größere bldc Motoren mit 3 Phasen, 310VDC, 3A, 48 Magnetpolen und 36 Spulen anwenden ?
Hallo, ich denke das sollte möglich sein. Allerdings habe ich keine Hardware, welche so hohe Spannungen unterstützt. Hierfür müsste man eine andere Leistungsstufe entwickeln.
@@skycurve875Bezüglich größerer Leistungsstufe für 3-ph 310VDC: Kann man dein Konzept zusammen mit dem Steval CMT011V1 anwenden ? Der ist lieferbar und kann 3phasig bis 600VDC und 5A.
I have only 3 different outrunnter BLDCs. The one shown in the video and two other smaller ones (~120Watt). All three can be run at full torque sensorless from standstill. Btw. you have an interesting channel!
I'm not sure if one can run sensorless stepper motors in closed loop which you need for this kind of force feedback. With position sensors that should work.
@Ma R: you can run steppers easily sensorless, but it's not easy to get their actual position without position sensors. That is required for the force feedback mode shown in the video. In most applications steppers are run sensorless in open loop. That's why they loose steps if you hold them in place forcefully during operation. Most controllers run them 'blindly' without knowing if they were actually able to reach the given position.
Impressive! Is your motor controller able to establish an absolute position which doesn't change when the setup is powered off for a while (even when the motor was moved when powered off)? I.e can your implementation fully replace an absolute position encoder?
I think he is using some sort of phase counter in his programming so I don’t think it will remember the position after powering down, but I might be completely wrong.
That's not possible to remember exact position without using absolute encoder or resolver. Other way no one would be using those very expensive encoders in industrial systems.
It is possible to know the absolute position after restart using my controller only if you don't move the rotor during the controller is turned off. Expensive industrial encoders have a built-in battery and monitor the rotor position all the time.
