electric_vehicle_lover Posted September 7, 2016 Share Posted September 7, 2016 For development, 30B4. 1 Quote Link to comment Share on other sites More sharing options...
lizardmech Posted September 7, 2016 Share Posted September 7, 2016 20 minutes ago, RolluS said: I can see great progress here. I'm constantly quietly reading but now I need to thumb up! Please keep up the good work, I'm ordering 30B controller, or maybe 30C 40A? We aren't allowed to buy the 40A apparently. 1 Quote Link to comment Share on other sites More sharing options...
lizardmech Posted September 7, 2016 Share Posted September 7, 2016 44 minutes ago, electric_vehicle_lover said: I wish he shared is new code, so I could take advantage of the SW filtering for hall sensors he mentions - I am now still with the problems on hall sensors... Have you looked at the software filter on the current sensors? It already has two software filters in BLDC tool, not sure if they reside in BLDC tool or the MCU. 1 Quote Link to comment Share on other sites More sharing options...
RolluS Posted September 7, 2016 Share Posted September 7, 2016 27 minutes ago, lizardmech said: We aren't allowed to buy the 40A apparently. But we are allowed to buy the whole EUC, and then, we may probably swap a 30B board inside. Quote Link to comment Share on other sites More sharing options...
changfrancis Posted September 7, 2016 Share Posted September 7, 2016 Using Arduino IDE for STM32 development https://www.youtube.com/watch?v=TePglhSkghg setting up the Arduino IDE with a ST-link v2 programmer https://www.youtube.com/watch?v=LwCzMqbjN6g I am not sure if this can help more developers to join in. Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 7, 2016 Share Posted September 7, 2016 One very important thing is JATG/SWD debug. The Eclipse + plugin I am using provides that. I suggest you to investigate if that Arduino IDE support JTAG/SWD development. Quote Link to comment Share on other sites More sharing options...
changfrancis Posted September 7, 2016 Share Posted September 7, 2016 electric_vehicle_lover you are right, there is no debugging feature in this type of Arduino IDE setup. 1 Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 7, 2016 Share Posted September 7, 2016 I really like Arduino, it was and still is very important for OpenSource and DIY. But also lacks advanced features that are needed to develop this advanced system - for instance, no one did FOC with Arduino, just 6 steps BLDC and SVM. I searched a lot on web and Arduino code is my first stop Quote Link to comment Share on other sites More sharing options...
RolluS Posted September 7, 2016 Share Posted September 7, 2016 Thanks for your inputs. How do you feel using 30b4 with your firmware and a big bicycle wheel? I wan't speed and don't care about slow speed stability until I can accelerate to a stable position Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 7, 2016 Share Posted September 7, 2016 My firmware is not working!!!! on 30B4 board, the motor runs forward and backward, but with some fails, like if there is noise on the hall sensors signals. I tested with 2 diferent motors - the MicroWorks 30km/h motor have the worst results. @changfrancis is start joining, maybe with his help we can move forward a bit faster. What we are trying to do is not new, there are many articles about motor control and FOC using the similar technology on the 30B4 board - even 30B4 board have "high technology" for motor control when compared to gen1 boards. Quote Link to comment Share on other sites More sharing options...
RolluS Posted September 7, 2016 Share Posted September 7, 2016 Your firmware is going to work !!!! Did I say I was in a hurry? No. But I'm pretty confident you'll manage 1 Quote Link to comment Share on other sites More sharing options...
lizardmech Posted September 7, 2016 Share Posted September 7, 2016 1 hour ago, electric_vehicle_lover said: My firmware is not working!!!! on 30B4 board, the motor runs forward and backward, but with some fails, like if there is noise on the hall sensors signals. I tested with 2 diferent motors - the MicroWorks 30km/h motor have the worst results. @changfrancis is start joining, maybe with his help we can move forward a bit faster. What we are trying to do is not new, there are many articles about motor control and FOC using the similar technology on the 30B4 board - even 30B4 board have "high technology" for motor control when compared to gen1 boards. Do you know the inductance, resistance and flux of the motor? You must have that information and some other variables for complex FOC control to work. 1 Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 7, 2016 Share Posted September 7, 2016 I think inductance, resistance and flux of the motor are values needed for the rotor position estimator. I am far to be there and for now I am using the hall sensors to get direct rotor position value. Also, I did read that are ways to measure/empirically get approximation of that values. When we get there, I am sure we will figure a way to have them. Quote Link to comment Share on other sites More sharing options...
lizardmech Posted September 7, 2016 Share Posted September 7, 2016 I don't know if you can actually run FOC on hall sensors alone. all the commercial ones I have tried only use them as an aid for very low speed startup. All the FOC math diagrams I have seen still have the clarke and park transformations even when using an encoder. Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 7, 2016 Share Posted September 7, 2016 I don't know if you can actually run FOC on hall sensors alone. all the commercial ones I have tried only use them as an aid for very low speed startup. All the FOC math diagrams I have seen still have the clarke and park transformations even when using an encoder. @lizardmech, yes, encoder for the rotor position. When not encoder is present, an rotor position estimator is used. Hall Sensors are used for zero and low speeds when an estimator doesn't work. For EUC application, I think hall sensors should always be present or an encoder (but I never saw an encoder on a EUC). This is my understanding. Quote Link to comment Share on other sites More sharing options...
lizardmech Posted September 7, 2016 Share Posted September 7, 2016 I think the position sensors are only used to compliment the sensorless FOC algo, it just feeds the data from them into it along with the park and clark transformations. From my understanding FOC vector control is inherently sensorless and halls or encoder sensors are an additional thing on top of the FOC algo. 1 Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 7, 2016 Share Posted September 7, 2016 (edited) 1 year after I just saw that this thread was created in September 2015 by @jayjay23 - 1 year ago. In one year, we got several people that bought the MicroWorks gen1 boards to develop the firmware. In the end, everyone from that group did leave and I am the only one. We just got gen1 boards to run the motor forward and backward using hall sensors (that board seems to not be able to do FOC) however the board have BEMF detectors. The best code is a reading from the IMU and a try to balance the EUC...... We could see a trying to balance but very slow... After I decided to move to MicroWorks gen2 boards because the hardware is almost the same but with some good additions like serial Bluetooth and hall current sensors in 2 phases - with Bluetooth I can debug much better the firmware by sending messages to my PC, like for instance send the IMU angle value. With the current measurement in 2 phases, the board should be able to make a better motor control using FOC that should translate to better efficiency and less noise. I started to port the firmware from gen1 boards to gen2 board (MicroWorks 30B4) and most of the code were reused. Than I added code for serial Bluetooth including the printf(). I also added code for the current measurement. The motor runs with the same code used on gen1 but at low and medium speeds the motor vibrates and makes noise although seems to run better at the higher speeds. This is the current state of the firmware. Edited September 7, 2016 by electric_vehicle_lover 3 Quote Link to comment Share on other sites More sharing options...
RolluS Posted September 7, 2016 Share Posted September 7, 2016 Happy birthday to this project ! And good luck 1 Quote Link to comment Share on other sites More sharing options...
Battling Posted September 12, 2016 Share Posted September 12, 2016 Congrats. You have done a great job. All my encouragements for the gen2 firmware. 1 Quote Link to comment Share on other sites More sharing options...
changfrancis Posted September 13, 2016 Share Posted September 13, 2016 I am getting my gen2 controller board in 4 hrs time ... fingercross for courier no to delay 1 Quote Link to comment Share on other sites More sharing options...
changfrancis Posted September 14, 2016 Share Posted September 14, 2016 It is finally here. I got the items from Taobao the china ebay, i guess it is cheaper than Aliexpress but getting a courier that will ship to western countries can be difficult. 1. 30B4 controller board @ 220rmb ~ $33usd https://item.taobao.com/item.htm?spm=a1z09.2.0.0.OyJAma&id=43973598019&_u=e1qcvq294ff2 2. Bluetooth adapter @ 40rmb ~ $6usd https://item.taobao.com/item.htm?spm=a1z09.2.0.0.OyJAma&id=531660846217&_u=e1qcvq29d2a6 3. ST programmer @ 10rmb ~ $1.50usd https://item.taobao.com/item.htm?spm=a1z09.2.0.0.OyJAma&id=523108494686&_u=e1qcvq297a24 2 Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 14, 2016 Share Posted September 14, 2016 One advice - don't run the EUC motor with a lab power supply. If the power supply cut the current when the motor is running at high speed (due to current limit in the power supply) the board will reset and block/brake the motor to max possible, generating high current and burning MOSFETs or more. This happen to me to first 2 boards. The issue is that the control mosfet ics don't have a state for running the motor free wheel... at reset state the motor is always blocked/brake. 1 Quote Link to comment Share on other sites More sharing options...
changfrancis Posted September 14, 2016 Share Posted September 14, 2016 so what do you recommend as the power source ? using the 67.2v battery ? Quote Link to comment Share on other sites More sharing options...
electric_vehicle_lover Posted September 14, 2016 Share Posted September 14, 2016 If trying to run the motor at max speed, use the battery pack. But I am always using the lab power supply because on my tests I am not always running the motor at max speed and I am also putting max current the power supply can do when running motor at high speed. Quote Link to comment Share on other sites More sharing options...
changfrancis Posted September 15, 2016 Share Posted September 15, 2016 I am setting up a small lab space for development, unfortunately i only have one set of motor and accessories. I will need to use my daily driver EUC for development too. Currently, waiting for element14 to delivery some quick connector for me to quickly disconnect the testing board. Btw, do you have the firmware from the original 30B4 ? Once i flash the development firmware, does it means that i will never be able to flash back the original firmware ? Quote Link to comment Share on other sites More sharing options...
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