What is FOC? (Field Oriented Control) And why you should use it! || BLDC Motor

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Trinamic Website: www.trinamic.com/
How to set up the TMC4671 FOC Servo Controller video: • How to set up the TMC4...
Previous video: • How NOT to make a Modi...
Sensorless ESC video: • Make your own ESC || B...
Sensored ESC video: • Make your own Sensored...
Facebook: / greatscottlab
Twitter: / greatscottlab
Support me for more videos: www.patreon.com/GreatScott?ty=h
In this video I will show you how Field Oriented Control (FOC) works and what advantages it offers in comparison to traditional ESCs. Along the way I will also present the TMC-4671 IC from Trinamics which features hardware that offers the FOC functionality for motors.
Websites which were shown/used in the video (useful):
www.db-thueringen.de/servlets...
www.roboteq.com/index.php/app...
www.maccon.de/fileadmin/redak...
www.trinamic.com/fileadmin/as...
Thanks to Trinamic Motion Control for sponsoring this video
Visit www.trinamic.com/ to get awesome motor control ICs
Music:
2011 Lookalike by Bartlebeats

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29 сен 2018

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Комментарии : 622

@greatscottlab 5 лет назад

Do you like the small animations in the video or do you prefer my hand drawn style? Let me know!

@AnOrangeECat 5 лет назад

I love some animations!

@omhekde9033 5 лет назад

Animations are better

@BharatMohanty 5 лет назад

Hand drawn style is your USP so I prefer it.

@alinbostan4569 5 лет назад

The animations are cooler, isn't it ?

@yxcvbnmmnbvcxy544 5 лет назад

Hand drawing

@emadeloc 5 лет назад

Do you know who should sponsor your videos? A markers company.

@RomanoPRODUCTION 5 лет назад

Yes so true, some pens that allow clean stabilo-boss flashy over lighting

@superdogmeatmeat 3 года назад

hehe

@AtulVinayakS 5 лет назад

You wasted an opportunity to title the video "What the FOC!"

@greatscottlab 5 лет назад

I honestly never thought of that. Dammit!

@AbhishekThakur-wl1pl 5 лет назад

Take a while to get it 😂😂

@DougFalcon 5 лет назад

"This waveform is very jagged and sharp and it could attack at any moment. So we must deal with it."

@nicewhenearnedrudemostlyel489 5 лет назад

i would say that's a really stupid title, for any reason other than showing legitimate problems with it.

@AtulVinayakS 5 лет назад

@@nicewhenearnedrudemostlyel489 why don't you go FOC yourself? 😂

@backdoornutzer4461 5 лет назад

I like the animation style for moving things because it adds more movement to the video. Especially when working with motors.

@kickinbackinOC 5 лет назад

That video was written right spot-on to my level of understanding. For me, it was perfect! I really liked the explanation of when is the best time to energize a stator coil, for a given angle of the rotor. And further it was explained that since current lags voltage in an inductor, the timing of when to energize the stator coil has to be adjusted as well. Really excellent stuff! 👍

@zeninlasvegas 2 года назад

The crux was explained neatly

@chopper3lw Год назад

Of all the FOC explainers on here , yours is by far the most enlightening. THANKS!

@felixman9691 Год назад

I come back to this video at least once or twice a year. Thanks for making this.

@standbyme6395 5 лет назад

I'm not much on idols but you are well on your way. Thank you for dedicating so much time to learning us a few things.

@danthemancasey 5 лет назад

Awesome video as always! Thank you, keep up the good work!

@deepakjoshi6242 5 лет назад

I like your project videos more.. And waiting for one...☺

@markoantesic4362 5 лет назад

This was more a presentation on SVM - space vector modulation- then on FOC. Strictly speaking FOC is just what you skipped over at 6:40. Also while dedicated FOC chips seem nice, modern microcontrolers are more then capable running the whole thing in software. E.G. I have used and seen Texas instruments piccolo/delfino chips run multiple motors in FOC with no problem. I have seen 1 delfino uP run a "12 phase" motor (like if you had 4 motors on the same shaft, each runing its own foc) with no problems.

@EmyrDerfel 5 лет назад

You wouldn't actually want to sync the phases because inaccuracies in the motor mounts and alignment changes under load would result in a your sync'd phase transitions being inappropriate for one of the motors.

@gangireddynagarjunareddy5299 4 года назад

can i have your email id?

@avejst 5 лет назад

Wow, nice job trinamic! Thanks for sharing👍😀

@anthonyvolkman2338 2 года назад

Wow!!!! Excellent video here!!! Wow! Such detail and attention was made here. I like the animations due to the fact that everything can be seen in movement or at least propagation. Keep up the amazing and ever improving job!

@richardbloemenkamp8532 5 лет назад

ESC technology is really a very interesting topic. I hope you keep on digging deeper and eventually are able to come up with a great design for us all to make ourselves, based on for example this chip plus standard MOSFET's, some microcontroler and a homemade Hall-sensor-based axis-positon controller. Efficiency and accuracy may be a bit lower but controlling reasonably high-current BLDC's would be nice. Would that make sense or should we just buy O-drive or VESC's for about $100 because it is too complex and because the standard components added up are equally expensive.

@l3d-3dmaker58 5 лет назад

YAY Trinamic!! they are some cool guys with some cool stuff my man, and their drivers are amazing

@00lol00sh 5 лет назад

Great animation video, but I think you should have mentioned the underlying d-q transformation behind the FOC, which lets the controller interpret sinusoidal signals as constant quantities, thus the reference system can be precisely oriented towards the rotor magnetic flux linkage.

@northshorepx 5 лет назад

I never really was able to picture the theory here before! Your videos really help the mathematics (of the theory) come to life. Thanks.

@greatscottlab 5 лет назад

Glad you like it :-)

@R3MIXMODZ 5 лет назад

0:37 field is pronouced (feeld) like the word feel but with a d at the end

@greatscottlab 5 лет назад

Good to know

@userPrehistoricman 5 лет назад

I'm disappointed that this thread wasn't a shitstorm like the one about 'ceramic'.

@x9x9x9x9x9 5 лет назад

I was about to make the same comment. Since English isn't his native language I was trying to think of a way to be tactful about telling him how to pronounce field.

@superdau 5 лет назад

He knows that, because he pronounces it correctly later in the video. But why do you add an "s" to the end of half the words that should and with d/t? "saids", "get rids", "work outs", "grounds", "a fields", "a FETs" (and no, it's not a plural s). That can be quite confusing.

@R3MIXMODZ 5 лет назад

English, in general, is hard. But the only way to get better is by practicing and correcting your mistakes.

@Roberto-dd1te 5 лет назад

I've never seen a donkey in a datasheet before

@Flo-er 5 лет назад

It's a donkeybridge 🐎🌉

@Ramog1000 5 лет назад

soo is it a donkysheet?

@abdulazeez.98 5 лет назад

😂😂

@mattquick5045 5 лет назад

6:45 ah yes, the time honored tradition of highlighting everything in a diagram. ;P

@gudenau 5 лет назад

Your sponsored videos can really stand by themselves, and that's pretty good.

@lazyman1011 3 года назад

Great as always!

@DannyBokma 5 лет назад

Aweseome IC but "The TMC4671 does not support sensorless FOC" is a bit of a bummer.

@freak-zd4wm 2 года назад

Amazing video!

@TheMechanicGamerVids 5 лет назад

Your Channel is Awesome!

@MedSou 5 лет назад

Nicely explained ,Thank you 👍👍👍👍

@cashel1111 5 лет назад

nope, i need to comment twice :P these animations are gorgeous! so much information displayed

@Lukanyator 5 лет назад

Great job! It was very interesting ^^

@cricketgreen6284 2 года назад

Always great!

@ShaunHusain 5 лет назад

Thx for all the great vids.

@acemasterx2514 2 года назад

This reminds me microstepping for stepper motors. Good video!

@jorgevalentemorales 5 лет назад

Excellent!! ..more please!! 👍

@ShomiTheGreat 5 лет назад

Balance out the shaft joint by placing another screw at the opposite side of the one currently placed. It'll increase the overall rotational inertia- but it'll also provide a constant, non-fluctuating load- thus giving better performances. A lot of energy is spent on unwanted effects such as motor's vibration which you even have to fight with your own hand (a.k.a. improvised vibration damping element)

@antoniovieira1423 5 лет назад

nice animations makes the video more easier to understand keep it up Mr Scott!

@greatscottlab 5 лет назад

Thanks for the feedback

@antoniovieira1423 5 лет назад

you're welcome!

@aaronwest2402 5 лет назад

I'm so deeply interested in these motors for some reason. I'm a diesel engine mechanic with mere basic understanding of electricity and barely that much when it comes to electronics. Your channel has been very helpful sir, I thank you for that. I am on this epic journey of building my own driver for this rather large bldc motor I have. Something that would probably be relatively simple for you. Nevertheless, I'm committed. That ic seems incredulous. The frequency of switching is beyond comprehension. Will definitely be snooping around their website today. Great video 👍

@greatscottlab 5 лет назад

Thanks for the feedback. I hope you will be successful in creating your driver.

@aaronwest2402 5 лет назад

@@greatscottlab hey man, have you heard of these intelligent power modules?!? Most amazing thing ever. I know this is all about DIY, but most of the time DIY is to save money. Anyways. Theyre pretty amazing devices. 300amp rating inverter to-220 ics. Im going to get a couple from Alibaba.

@pavlosvasileiou2994 5 лет назад

Great Video as always, but I’d like to point out one thing only. This flux current (direct current or Id) isn’t just representing Power Losses. It really depends on the application and it comes down to the algorithm which you use to implement FOC such as MTPA (Maximum Torque Per Ampere), Constant torque etc. Also, this direct current will really help you achieve more RPM for the same Power in the exchange of some Torque. This phenomenon is called MFW (Magnetic Field Weakening). Anyways, great channel, keep it up man! You’re a great motivation for a lot of young Engineers!

@greatscottlab 5 лет назад

Thanks for the feedback and thanks for the information.

@ericcartmann 5 лет назад

Direct Current is for building a field inside of an induction machine. Kinda like the shunt coil in shunt DC motors. BLDC motors/PMSM have a permanent magnet building a field. Thus direct current is all loss, the direct current has no rotor field windings to couple with. You set Direct current to zero in the park/clarke controller BLDC/PMSM.

@th3d3wd3r 5 лет назад

Field weakening gets me an extra 10-15mph or so out of my ebike. Which takes it up to 65mph top speed at 100v with a torque wound motor.

@ericcartmann 5 лет назад

Thats an induction machine right? So you mean a "Wound Rotor" motor. That means there's no permanent magnet, and the magnetic field is generated with the direct current coupling to the rotor windings. The stronger the magnetic field, the more torque but less speed. The weaker the magnetic field the faster the speed but less torque. FOC lets you control the amount of direct current so that after you have started (accelerating your vehicle takes the most amount of torque, at a constant speed the only torque you need is to counter friction and air resistance) you can lower the direct current to get more speed.

@sorin.n 5 лет назад

You guys really know your FOCs and BLDCs...

@christianacar2745 Год назад

I didnt know you have this video T.T thank youuu

@energystoragedevelopers7656 5 лет назад

Omg 😮 I was trying to find a video I watched about latest Bldc driver controllers but can’t seem to find it and thought I must have dreamt it ! But lucky I find your video that proves better driver tech is real . I wish I could find other video though as it explained certain things that I want to research further and I think you may like it . I just bought aeg fusion drill and it has latest Bldc motor controller which nearly doubles it torque from 70 nm to 140nm . I also uses Panasonic 2070 cells instead of 18650 . Very powerful drill .

@RandomHacks 5 лет назад

It makes me nervous when you use a screwdriver as a pointer for your oscilloscope 😅

@serwisrtvlaptopelektronik5166 5 лет назад

as I see it, I have a small heart attack. :)

@maskedredstonerproz 4 года назад

what else can he use tho??

@malred1195 5 лет назад

Can't wait till you get a million sub

@sarbajitdas7659 4 года назад

Superb I learnt a lot of things

@ialeg3710 5 лет назад

I'm happy you didn't just solve the issue with an easily programmable IC with Arduino like you usually do and instead went more in depth.

@austinwu7643 5 лет назад

The animations are great

@StaticVapour590 5 лет назад

nice, animations are cool

@yasarkaya8176 5 лет назад

Thanks for super understandable video (y)

@JawadAhmadsahibzada 2 года назад

perfect explanation 👍 Thank you so much

@electronic7979 5 лет назад

Excellent

@tomwin6975 5 лет назад

Sending your company' stuff to GreatScott is best way of marketing, I guess (but only if your product is seriously good)

@Drxxx 5 лет назад

nice video dude.. i love sunday because your videos..

@greatscottlab 5 лет назад

Awesome! Glad I could brighten up your Sunday.

@AndreyVarlamov 5 лет назад

Trinamic is an awesome solution.

@Hasitier 5 лет назад

Eselsbrücke Adapter. You made my day.

@INeedAttentionEXE 5 лет назад

I like the cool animations

@argentinomacrifuevidaltamb3772 5 лет назад

Excelente gracias por tu tiempo.!

@akshaydasm.k9388 4 года назад

Here in my company, we use this tmc ic. For stepper motors we use tmc5160. It's really great.

@mekanism8364 2 года назад

What size load is this powering in your company?

@zolatanaffa87 5 лет назад

hello, excellent presentation of the product: I would say that this is a valid solution: rewriting what you are explaining it increases the strength of penetration of the message: I am Italian, I do not know very well English (German even less) and I struggle to follow you (fortunately there is still and the speed at 0.75) but your diction is clear and not too fast so understandable for me: Great, Scott! another style of presentation that I consider very effective is that of DroneBot Workshop: it is very nice and understandable even if I think it is much more complicated to realize than your writing in real time:

@tibi3238 5 лет назад

Road to one milion

@Scrogan 2 года назад

Very interesting.

@chanterheld 5 лет назад

I was actually doing research on that exact IC and cursing the fact that the DEV board is so crazy expensive when I got the notification.

@caelanmorris362 5 лет назад

Gaday from Australia mate!

@jonesnjoroge 5 лет назад

Go West Coast!!! :)

@caelanmorris362 5 лет назад

Heck yeh

@AnubhabKundu 4 года назад

smoother field movement in space with time is the major plus point of FOC. FOC can simplify the control strategy of a 3 phase AC induction motor or a PMSM to look like that for a DC shunt motor where torque is a function of current drawn and the speed a function of voltage applied to it.

@LanceThumping 5 лет назад

Hopefully this will lead to the eBike market having the high voltage high amp niche they require filled. It's hard to find a controller with FOC that can do the high power levels that eBikes usually run at.

@ericvauwee4923 2 года назад

Unitech or Sevcon make pretty big ESCs with FOC

@NoorquackerInd 2 года назад

The Trinamics power stage kit that he showed in the video was capable at 70V, 10A. That should get you a nice 700W, which is close to the legal limit in the cities I'm in

@sethperkins1938 Год назад

The 4671 can also drive other gate drivers that can drive igbt or high power MOSFETs for high power FOC

@RafaGmod 5 лет назад

Wow, i worked with this in my master :D

@spicymemeboi2646 5 лет назад

so the quadcopter project is still going? :)

@greatscottlab 5 лет назад

It's a secret!

@aksquad5522 5 лет назад

@@greatscottlab Maybe a little hint ?😂

@blackturbine 5 лет назад

@@greatscottlab are you making a manned quadcopter that will put you in power similar to government position?

@ShahZahid 5 лет назад

@@greatscottlab is it a hexacopter

@ShahZahid 5 лет назад

And post a video about it

@sonalinaldurgkar4384 5 лет назад

Very nice

@felipeperez7802 5 лет назад

I like the new attempt at the animations done my software. Nevertheless, I usually prefer the hand drawn style. I suggest that a good mix of the two (animations for more complex drawings, and hand drawn sketches for simpler illustrations, for example) Edit: Keep up the good work! Love your videos.

@nosafetyswitch9378 5 лет назад

had to use some CLARK-PARK (and inverse) transforms very recently in the controller of an inverter so when I saw the datasheet I skipped a bit! Amazing times...

@splanksplank7973 5 лет назад

Ich musste das für die Matura lernen, habs aber bis jetzt nie verstanden. Danke!

@MCSGproject 5 лет назад

good topic

@tamyboy1 5 лет назад

nice ic

@thomasdgiannis8727 5 лет назад

Hello from Greece

@oo-bb4qs 2 года назад

GOOD ANIMATIONS

@karampalsingh5914 5 лет назад

It is very good

@MCsCreations 5 лет назад

Pretty nice work! Really interesting stuff! 😃

@charlesadrianneruben6088 5 лет назад

Great scott! I always watch your videos every you post it and i love it and useful. :-) I want to ask to make digital voltmeter even ammeter using an arduino? Thanks.

@AboubakrA 5 лет назад

starting the video without "this video is sponsored by JLCPCB" bit in the beginning ... I can die peacefully now

@allofgamingtv 5 лет назад

Awesome

@surajsingh4477 5 лет назад

You the best:)

@bruperina 5 лет назад

Thank you buddy.

@emilianochomnalez637 5 лет назад

It would be very nice to implement the board with your DIY Arduino sensored controller. Thanks for the video

@zephsmith3499 5 лет назад

I appreciate the video, but it would be nice to note the that modules he recieved are pretty expensive to buy. The TMC4671-ES IC is only $14.26 currently at Digikey (qty 1, no price break shown for more), but the eval kit is nearly $400. Still, it's nice to know these exist. It may be interesting to search for similar software solutions, even if they are not quite as good as the custom ICs.

@bensimonpouf 5 лет назад

Humpf, it's pretty nice ! But 100+.- for the IC only :( it's definitely not targeting hobbyists !

@lakloplak 5 лет назад

So is this different that microstepping for a stepper motor? That's really silent but loses holding torque... I am building a 3D printer that will also do milling and thus needs torque.

@akhilnandan5087 2 года назад

Actually this video is pretty useful, but it is about SVM in place of FOC, well one is control strategy and other is a modulation strategy. In BLDC you could use SVM to advance the voltage phasor angle to match with the impedence and back emf, where as in IM one could orient and decouple the flux and torque producing current commands to be issued to the SVM modulator.

@merugr8718 5 лет назад

How many hours does it take you to make such amazing videos? Don't you get tired from time to time? Btw great content!

@sihlejz840 3 года назад

great work! can you please do a simulation for a three-phase induction motor variable speed drive using FOC?

@Lovreli 5 лет назад

I like the animations...

@cristiantalos4042 4 года назад

Great video! Do you plan on making a video on BLDC motors using the ODrive? That would be really cool :)

@power-max 5 лет назад

Can you implement an FOC algorithm on your DIY ESC? That's kinda what I was hoping for in this video.

@RingingResonance 4 года назад

FOC takes quite a bit of horse power to run. You need a pretty fast micro preferably with floating point math capabilities implemented through hardware such as a math co-processor or a CPU that supports floating point instructions. You could also do it with fixed point fractionals, but it wouldn't be as straight forward as floating point.

@KerbalLauncher 3 года назад

@@RingingResonance You can run a fixed point sensored implementation on one of those STM32 bluepill boards, but that's stupid. Better to get a genuine STM32 nucleo board or Texas Instruments C28x LaunchPad than to waste time with potentially defective bluepills from China. Something like sensored FOC is actually rather easy to implement in floating point, feed currents through the transforms one way, PI controller, then feed the voltages through the transforms the other way. Sensorless isn't that much harder to implement if you're ok with startup cogging.

@estebansanches4236 5 лет назад

Hi Scott can you make a video talking about galvo servos it would be awesome

@ThomasHaberkorn 5 лет назад

really illustrative animations you did this time, great!! however, on 5:14, shouldn't "Step 7" result in a vector of length 0 (i.e. a point at the origin)? In Step 7, (and step 0), no field in created (I think).

@caelanmorris362 5 лет назад

I liked the video before Even watching it!

@epineh 4 года назад

That is a very nice chip, though I think going a diy PCB would be interesting, the QFN76 package is 11.5mm by 6.5mm and 76 pins!!! Not for the faint hearted. I believe the TMC4671 breakout board is 4 layer, adding more cost and complexiy to any hopes of DIY, maybe I'm too old haha.

@juhaheikkila 5 лет назад

This Trinamic IC isn't very plug n play system. Tons of registers to set before you make any sense of it. It lacks auto recognition of the motor, so all parameters needs to be put by hand. Texas and ST are making real plug n play chips since they have implemented real time auto tune feature for all critical parameters from the motor.

@TheMakersWorkshop 5 лет назад

Hello Scott! "Field" has a traditional English pronunciation of "FEE-eh-ld" similar to wieder

@satvinderkaur160 5 лет назад

Gentlemen ! What is Ur qualifications I'm means Ur engineering dencent man , I'm also engineering student electronics and communication engineering and I always watch all whole video and ur my ideal I want to become a electronics and communication engineering like u Ur dencent in all phases man love from India 😍😘

@power-max 5 лет назад

Is there an advantage to using an ASIC over a powerful MCU for low to medium speeds? I would guess looptime would dictate how frequently the B field updates in relation to the electrical angle of the rotor

@groundzero_-lm4md 3 года назад

Well there is reliability, An ASIC is less likely to go wrong in general. However the high R&D and the low cost of microcontrollers has lead to software solutions being used 90% of the time. The looptime is mostly irrelevant, even quadcopters with motors that spin at over 40,000RPM use microcontrollers.

@sergeantseven4240 5 лет назад

these drivers would be great to use on a combat robot platform for the drive wheels if someone had a more compact driver board that accepted signals from an RC receiver.