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develop_motor_controller_firmware.md

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There are no hall sensors on the motor and the original motor controller only has 1 DC shunt current sensor, so it does not measure the motor phase currents.

The motor controller has a magnetic sensor on the board, to detect the angle position of the motor rotor shaft (that has a magnet glued). This should provide a high resolution motor rotor position, which should provide a good torque at motor startup as also a easy implementation of motor FOC, with an efficient and silent motor.

We know and have all the datasheets of the components of the board - see the hardware folder.

Ideas

How to implement simple motor control

  1. calculate the phase current as: phase current = battery current * duty_cycle (this is done on TSDZ2 OpenSource firmware)
  2. use motor speed and motor inductance to calculate the angle between the motor voltage and motor current, to keep the i_d current always at 0, this way get principle of FOC running (this is done on TSDZ2 OpenSource firmware)
  3. control the phase current wuing a PID controller
  4. control the phase angle using a PID controller
  5. implement SVPM and finally apply the PWM values

(Optionally) How to sample phase currents using the DC shunt current sensor

How to sample phase currents:

  • If Ia+Ib+Ic=0, Set the ADC trigger when U high V low W low, You get Iu
  • Trigger at U high V high W low, You get -Iw
  • There are 6 combinations like this i think so you can get all phase readings
  • But it gives poor results at low speed