Firmware

Features

• Field Oriented Control (wikipedia)
• Field weakening to achieve higher than rated RPM
• Energy recuperation
• Sensored: AB incremental encoder (other sensors can also be adapted)
• Sensorless
  • Full motor torque and closed loop from standstill
  • No audible High Frequency Injection, also at standstill
  • No vibrations or startup issues
  • Operational RPM down to zero
  • Position is updated at every PWM cycle in low- and highspeed position observer
  • Allows to implement position controllers for positioning applications like robotics, 3D printers, pendulum, production line, …
  • Allows implementing freely adjustable slip control and electronic handbrake (e.g. for vehicles)
  • exact torque control (e.g. for a precise screwdriver)
• No motor overload due to motor current and torque control
• Motor parameter detection: coil resistance, inductance (Ld, Lq, Ls) and flux linkage
• Integrated FAN control to cool the motor controller
• User application (serialmonitor) for setup and monitoring (USB to Serial adapter, Bluetooth)
• Communication library for own control and monitoring applications for C, C++, Python, …
• Parameter and configuration is stored within the processor flash
• Scalable to all size of motors and power stages
• Runs on STM32 microprocessor
• Compatible to VESC- and VESC clone hardware

Control Modes

• Torque (current) control
• RPM control
• Position control
  • is able to return to the origin or every other setpoint

Live data monitoring

• Electrical and mechanical torque and RPM
• DC current
• Phase, direct and quadrature currents
• Power in watts
• Energy counter: used and recuperated energy
• Knowledge about absolute position at every time, even after running for hours
• Temperature of the PCB powerstage and external sensors, e.g. for motor temperature

Interfaces

• RC typical servo pwm control input
• UART, Bluetooth
• AB incremental encoder
• External temperature sensor input
  
• Every other common interface like analog throttle input can be implemented easily

Advantages over common controllers

• Natural sinusoidal current waves (instead of trapezoidal) lead to less heating of the (most) motors -> higher efficiency
• Quieter motor operation
• Better throttle response
• Full torque from standstill without position sensors: no resolver, hallsensors or optical encoders
  • Less components save costs
  • Simpler wiring
  • Less sources of errors: no broken cables, loose connectors or misaligned sensors
  • Save space and use both axle sides
• Realize servo or stepper motor application using inexpensive BLDC motors
• Can be every type of controller: not ‘only for flying’ or ‘vehicle only’

Disadvantages over common controllers

• Generally more expensive due
  • Faster processor like STM32F3 or STM32F4
  • In-phase current measurement circuity (at least if you want sensorless full torque at standstill)
• More complex adaption to new motors, no out of the box operation (at the moment)

Demonstration

In progress

• USB support (coming very soon)
• Advanced motor parameter detection to simplify adaption to new motors
• Synchronize multiple motor controllers, master and slave possibility
• Live motor temperature calculation without using temperature sensors
• Eliminate the requirement of more expensive in-phase current measurement to allow sensorless full torque at standstill also with inexpensive two low-side shunt current measurement
• Optimize firmware to allow running on slower and inexpensive processors