Commit efc3d30c authored by Jake Read's avatar Jake Read

img

parent 37db0919
# AutomataKit BLDC Driver
![bldcdriver](images/atkbldc.jpg)
## What
The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how.
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......@@ -18,10 +18,10 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/motors.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/passives.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/power.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/sensor.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/tag-connect-2030.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-Connectors.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/jake/tag-connect-2050.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlabs-passives.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/tag-connect-2030.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-DiscreteSemi.lbr"
[Win_1]
......@@ -119,7 +119,7 @@ Type="Control Panel"
Number=0
[Desktop]
Screen="3840 1080"
Screen="1920 1080"
Window="Win_1"
Window="Win_2"
Window="Win_3"
......@@ -38,6 +38,8 @@ Got this running, feels pretty mediocre. I need to understand commutation a bit
https://geekshavefeelings.com/posts/sensorless-brushless-cant-even
bulletproof commutation is encoder-based - low speed, at stall, with variable motors, etc, electromechanical sensing is always buggy. encoder perhaps not fast enough to commutate every cycle, so we need to write a filer / estimator that continues rolling the commutation cycle forward with only periodic input from the encoder - i.e. we contantly estimate speed, update that estimation every time we sample the encoder, commutate according to that estimation
# Notes
- read shane colton's pdf on sensorless field oriented control, and his park-transform free FOC solution: sounds cool. finish phase search algorithm.
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