Trapezoidal Motion Ramping - Closed Loop Motor Module Prototype | MOT 7

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We’ve finished the prototype DC motor! In this video we’re demonstrating the function of a position ramp generator. The ramp regulates position and speed throughout a position move. We do this by using our Arduino Nano to regulate a motor to a specific motion path. After the demo, we discuss the next steps for this project!
#Motor #Ramp #PID
Next topics: Hardware Development & Modbus Integration
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Links:
Previous Video - • Closed Loop Speed Cont...
ADI Trinamic - www.trinamic.com/technology/m...
Position Data - docs.google.com/spreadsheets/...
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0:00 Introduction
1:00 Position Ramp Test
3:30 Control Variable Plots
5:30 Trinamic Controller
6:40 Ramp vs MaxSpeed
8:00 Conclusion

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Опубликовано:

5 июл 2024

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Комментарии : 15

@realchristopher4334 2 года назад

Wait the second! You are married within this week!?!!? I did not see that ring before this! Congratulations to you, if it is true!

@EEforEveryone 2 года назад

Hello Real Christopher! Apologies for my late reply. (You can probably guess why!) Yes, I have been married, though time-delay is real with YT videos. :) It has been a busy season of preparation, but I'm happy that we were able to make it work without totally abandoning content. a HUGE thank you to my editor, he's been keeping the channel alive!

@realchristopher4334 2 года назад

😂 Weirdly pleasantly satisfying sight! 😂

@EEforEveryone 2 года назад

Ha! The ramp functions, or... just in general?

@power-max 2 года назад

I had to tackle this problem also. A common solution is to use the AccelStepper library, but the client wanted to keep code closed source, I took it as a challenge to re-create the library my own way. My approach was to calculate when the next pulse should occur and set the timer accordingly, following a quadratic formula. You would think it should increase or decrease the pulse length linearly, but the algorithm isn't being executed at fixed time intervals, the time intervals are proportional to each step. I had to calculate the function to perform a smooth ramp with programmable limits on velocity and acceleration with respect to position (number of steps) rather than time.

@EEforEveryone 2 года назад

Power Max, that sounds like a heck of a project! I'll keep the AccelStepper library on my radar. Your algorithm sounds like a very clever solution!

@ericjohnson3442 2 года назад

Nice video! You should look for micro's that have built in quadrature decoders or with customizable logic (Like the TI C2000 series)! Could be a good micro for the project moving forward!

@EEforEveryone 2 года назад

Great Suggestions, Eric! That is a great idea when we move away from the development kit

@gillywild 2 года назад

I would be very interested in seeing your code for this as I’m working on something similar.. but a bit bigger.. 8kW bigger :)

@EEforEveryone 2 года назад

Ooh My! Code is certainly coming. 8kW is an exciting number. I hope you succeed, and I can't wait to have better code to share. What I have right now is a twisted web of "hmmm... there's a better way to do this" :)

@gillywild 2 года назад

@@EEforEveryone Thank you for the reply :) I’ll look forward to you showing your code in the future then :) I’m still running my project on the bench with tiny test loads and a current limited psu. Soon I will have to bite the bullet and connect it to the real motor and 48V batteries. Squeaky bum time :))

@EEforEveryone 2 года назад

Awesome stuff. That moment of 'well, I hope this doesn't explode' is always a treat. :)

@analoghardwaretops3976 2 года назад

8kW / 48V that's about 160+ Amps....so more than proper software...your hardware must be robust too..lots of control loops cascaded... current/torque/temperature.of .(device& motor..).but best is F.O.C. ( field oriented ctrl.) ... 👍👍👍Wish you the sucess your looking for.. .. b.t.w. just to keep in consideration....160+ amps..is the " average" current.drawn from the battery ...in a 3ph.bldc...your peak current flowing through each motor winding/ wire , @ full load , continuous is (average current /(2/3*duty cycle...))

@analoghardwaretops3976 2 года назад

" S " shaped ramping curve SHOULD ..more or less mimic the motor mechanical time constant parameters.... proportionately... Error in final position overshoot / undershoot, another contributor could be gear backlash... here gear ratio has to be taken into account as a (multiplier/ divider) in the servo control loop ..

@EEforEveryone 2 года назад

Hi analoghardwaretops - Yes, I love thinking about "S" shaping. Something about simultaneous speed control, position control, jerk-limiting, acceleration-limiting, and input shaping just.... I love everything about this project! Yes, I think some compensation factors for backlash / ratio from "pulses" to "revolutions" will definitely need to be exposed for configuration via Modbus! Right now... it's just terrible "magic numbers" in the code.