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bitdump / BLHeli

BLHeli for brushless ESC firmware
GNU General Public License v3.0
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Question: Is FOC the Next Big Thing in smooth & efficient motor controls? #230

Open RipperDrone opened 7 years ago

RipperDrone commented 7 years ago

@sskaug I just did some research on FOC motor controls as opposed to trapezoid or sinusoidal. It seems that one particular problem with today's noise sensitive gyros can be addressed effectively: FOC provides uniform, almost ripple-free torque curves which might enable us to finally use motor/frame noise sensitive faster gyros without the need for softmounting, thereby compromising PID loop dynamics.

Below are some resources I have identified. What do you think of it?

tracernz commented 7 years ago

It's not really the "next big thing", it's been a thing for a long time. Already some relatively old open-source implementations e.g. http://vedder.se/2015/01/vesc-open-source-esc/

sskaug commented 7 years ago

I once tried an FOC ESC, the EMAX Windtalker. But I didn't have the motor that it was set up to pair with, and it ran very poorly. How to solve the issue of matching motor to ESC parameters?

RipperDrone commented 7 years ago

Since you have introduced an authentication system for your BLHeli_S firmware anyway, couldn't this be a route to authenticate motor IDs which contain all required information to drive them FOC properly?

One might even think about bundling motors and ESCs, like Racerstar, EMAX, ... are striving to push for anyway.

Maybe QR codes printed on the motors and/or motor boxes could also help authenticating the FOC parameters required for the motors...

tecmansun commented 7 years ago

As I know, motor param. can be indentified automatically in order to match different PMSM.

2017年4月20日 下午2:46，"Reinhard" notifications@github.com写道：

Since you have introduced an authentication system for your BLHeli_S firmware anyway, couldn't this be a route to authenticate motor IDs which contain all required information to drive them FOC properly?

One might even think about bundling motors and ESCs, like Racerstar, EMAX, ... are striving to push for anyway.

Maybe QR codes printed on the motors and/or motor boxes could also help authenticating the FOC parameters required for the motors...

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LiangAndrea commented 7 years ago

Hello@sskaug I am from FrSky, my colleague of R&D department want to contact with you, please send me the mail (haoliang.huang@frsky-rc.com) if you think this is okay. Thank you! @sskaug

controlflow commented 6 years ago

Interesting, just announced DJI Mavic Air drone mentions FOC ESCs in marketing materials: https://www.dji.com/mavic-air?utm_source=newsletter&utm_medium=edm&utm_campaign=mavic-air&utm_content=release&sc_src=email_1694741&sc_eh=43a80757fc71f2821&sc_llid=81821&sc_lid=69868312&sc_uid=SXrhMEoTqb

Changliu52 commented 5 years ago

I think foc is really the key to make the blheli be used for much wider applications like ground rovers or even legged robots. I’m not sure how keen is the community to make its possible here? Will the hardware be significantly different?

jkflying commented 5 years ago

From what I understand FOC needs a voltage and a current reading from each phase. There is also a considerable amount of math that needs to be done to determine the phase angle, I'm not sure the accuracy required but I suspect an FPU would be useful at least in the beginning, until it can be optimized.