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大狮子 / FOC无刷电机矢量控制器

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LGPL-3.0

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路何求创想工坊出品 | 硬件&算法工坊

【FOC+STM32】双路直流无刷电机矢量控制器-使用文档

📕 介绍

控制器主控芯片采用STM32F405RGT6,控制器底层基于HAL库和FreeRTOS实时操作系统,预留CAN、USART、SWD、USB接口各一,便于通信和控制的工程应用。该控制器提供双路无刷电机控制,同时分别预留编码器接口与电压采样接口,适合于有感FOC与无感FOC的控制应用或算法验证。同时该控制板还可以适合于异步电机的矢量控制。

注意:此项目为硬件设计与算法验证项目,当前正处于设计和验证阶段,未进行完善的工程应用测试和极限参数的压力测试,请勿直接使用,以避免出现安全问题和财产损失,后续的验证情况会同步更新

演示图片

PCB仿真3D示意图-背面 PCB仿真3D示意图-正面 PCB仿真3D示意图-正面 PCB仿真3D示意图-正面

什么是FOC

FOC,即Field Oriented Control的缩写,可以译为磁场定向控制或矢量控制。是一种针对异步电机或直流无刷电机的变频调速方式,具有以下几个特点:

  • 调速范围宽,具有良好低速特性与高速特性
  • 机械特性硬,转速稳定性好
  • 速度可以在整个调速范围内连续控制,平滑性好,可以实现无级调速
  • 可以实现力矩控制与力矩反馈
  • 结构复杂,算法复杂,贵

🎬 进度

日志

详见: 日志文档

【2021.12.27】 焊接完成

【2021.01.09】 查找到两个硬件BUG

【2021.01.13】 屏幕驱动编写完成

✨ 参数

  • 规格

    • 体积: 99.0mm × 71.5mm × 8.8mm
  • 性能

    • 额定电压 12V - 36V
    • 双路直流无刷电机驱动
    • 最大持续电流 2 × 15A
    • 支持三相霍尔编码器(可根据需要选择性焊接上拉电阻)
    • 支持最大不超过3PIN的数字编码器或其他编码器(如PWM信号的AS5600)
    • 不支持需要ADC采样的模拟编码器
  • 功能

    • 一个可编程LED灯,一个电源指示灯,四个电机状态指示灯
    • 板载 OLED 屏显(基于带片选的SPI通信)
    • 基于 2 × DRV8303 的双路电机驱动(与OLED共用SPI总线)
    • 提供 2 x 3 的UVW电压采样
    • 提供 2 x 2 的电流采样,分别为V相和W相
  • 接口

    • CAN x 1
    • USART x 1
    • TYPE-C USB接口 x 1 (FS全速接口,不支持OTG,不支持供电)

📄 BOM表

FOC_Controller_BOM

Comment Value Designator Quantity Footprint LibRef Description Price/pcs Price
Cap 1μF "C1, C4, C7, C30, C43, C44, C61, C62" 8 C 0603_L Cap Capacitor 0.0031 0.0248
Cap Pol1 100μF C2 1 C 1206_M Cap Pol1 Polarized Capacitor (Radial) 0.2 0.2
Cap Pol1 22μF C3 1 CD A(3216) Cap Pol1 Polarized Capacitor (Radial) 0.749 0.749
Cap 10μF C5 1 C 0603_M Cap Capacitor 0.0853 0.0853
Cap Pol1 47μF C6 1 C 1206_M Cap Pol1 Polarized Capacitor (Radial) 0.2 0.2
Cap 100nF "C8, C15, C17, C18, C19, C32, C51, C52, C87" 9 C 0603_L Cap Capacitor 0.0134 0.1206
Cap 0.01μF C9 1 C 0603_L Cap Capacitor 0.0131 0.0131
Cap 0.1μF "C10, C11, C14, C16, C22, C23, C24, C29, C38, C40, C42, C50, C56, C58, C60, C66" 16 C 0603_L Cap Capacitor 0.0134 0.2144
Cap 2.2μF "C12, C13, C26, C39, C57" 5 C 0603_L Cap Capacitor 0.186 0.93
Cap 20pF "C20, C21" 2 C 0603_L Cap Capacitor 0.025 0.05
Cap 4.7μF 16V X7R C25 1 C 0603_L Cap Capacitor 0.1 0.1
Cap 1μF 16V X5R C27 1 C 0603_L Cap Capacitor 0.031 0.031
Cap 4.7μF "C28, C34, C49, C65" 4 C 0603_L Cap Capacitor 0.1 0.4
Cap 1μF 16V C31 1 C 0603_L Cap Capacitor 0.031 0.031
Cap 47nF C33 1 C 0603_L Cap Capacitor 0.025 0.025
Cap 0.022μF "C41, C59" 2 C 0603_L Cap Capacitor 0.025 0.05
Cap 1000pF "C45, C46, C67, C68" 4 C 0603_L Cap Capacitor 0.025 0.1
Cap 2200pF "C47, C48, C63, C64" 4 C 0603_L Cap Capacitor 0.025 0.1
Cap 100μF "C69, C70, C71, C72, C73, C74, C75, C76, C77, C78, C79, C80, C81, C82, C83, C84, C85, C86" 18 C 1206_M Cap Capacitor 0.2 3.6
BLUE_LED D1 1 LED 0603B LED2 "Typical RED, GREEN, YELLOW, AMBER GaAs LED" 0.07 0.07
SS56 D2 1 SMC Diode BAS70 Silicon AF Schottky Diode for High-Speed Switching 0.4847 0.4847
GREEN_LED D3 1 LED 0603G LED2 "Typical RED, GREEN, YELLOW, AMBER GaAs LED" 0.04 0.04
YELLOW_LED "D4, D6" 2 LED 0603Y LED2 "Typical RED, GREEN, YELLOW, AMBER GaAs LED" 0.045 0.09
RED_LED "D5, D7" 2 LED 0603R LED2 "Typical RED, GREEN, YELLOW, AMBER GaAs LED" 0.045 0.09
USB-C J1 1 USB-C-SMD_TYPE-C-USB-5 USB-C/S USB-C型母接口 0.4844 0.4844
OLED 128*64 J2 1 OLED 0.96'' 128x64 Header 30 "Header, 30-Pin" 9.75 9.75
三相连接器-插座 "J3, J4" 2 MR30PW-M 三相连接器-插座 2.1 4.2
Inductor 47μH/3A L1 1 L-SMD-0630 Inductor Inductor 0.7579 0.7579
USART P1 1 SIPA04 Header 4 "Header, 4-Pin" 0.04 0.04
M0_Encoder P2 1 SIPB05 Header 5 "Header, 5-Pin" 0.06 0.06
CAN P3 1 SIPA03 Header 3 "Header, 3-Pin" 0.03 0.03
M1_Encoder P4 1 SIPB05 Header 5 "Header, 5-Pin" 0.06 0.06
STLINK P5 1 SIPA03 Header 3 "Header, 3-Pin" 0.03 0.03
KIA50N03BD "Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11, Q12" 12 TO252 - 3 N-MOSFET 0.574 6.888
Res2 1K "R1, R35, R36, R50, R51" 5 R 0603_L Res2 Resistor 0.006 0.03
Res2 12K R2 1 R 0603_L Res2 Resistor 0.006 0.006
Res2 22Ω "R3, R5" 2 R 0603_L Res2 Resistor 0.005974 0.011948
Res2 4.7K "R4, R24, R25, R26, R29, R30, R31, R41, R45, R56, R57, R68, R69" 13 R 0603_L Res2 Resistor 0.006 0.078
Res2 43K "R6, R9, R13, R15, R19, R21, R27" 7 R 0603_L Res2 Resistor 0.006 0.042
Res2 3.3Ω R7 1 R 0603_L Res2 Resistor 0.009572 0.009572
Res2 3.9K "R8, R11, R14, R16, R20, R22, R28" 7 R 0603_L Res2 Resistor 0.006 0.042
Res2 "R10, R12" 2 R 0603_L Res2 Resistor 0.006 0.012
Res2 910KΩ R23 1 R 0603_L Res2 Resistor 0.006 0.006
Res2 60Ω "R32, R33" 2 R 0603_L Res2 Resistor 0.010254 0.020508
Res2 4.7KΩ "R34, R67" 2 R 0603_L Res2 Resistor 0.006 0.012
Res2 "R37, R52" 2 R 0603_L Res2 Resistor 0.006207 0.012414
Res2 10 "R38, R39, R40, R42, R43, R44, R53, R54, R55, R58, R59, R60" 12 R 0603_L Res2 Resistor 0.006736 0.080832
Res2 56Ω "R46, R47, R61, R62" 4 R 0603_L Res2 Resistor 0.006778 0.027112
Res2 0.005Ω 4W "R48, R49, R63, R64, R65, R66" 6 R 2512_M Res2 Resistor 0.006 0.036
SW-PB S1 1 TSW SMD-6*6*5 SW-PB Switch 0.2679 0.2679
XL2011 U1 1 SOP8_N XL2011 5V/2.1A DC-DC Buck电源芯片(<50V) 1.9728 1.9728
CJT1117-3.3 U2 1 SOT223_N Volt Reg Voltage Regulator 0.6873 0.6873
STM32F405RGT6 U3 1 LQFP64-10x10mm STM32F405RGT6 No Description Available 45 45
TJA1040 U4 1 SOP8_N TJA1040 CAN收发器 9.02 9.02
DRV8303 "U5, U6" 2 DCA48_4P42X3P48 DRV8303 "THREE PHASE PRE-DRIVER WITH DUAL CURRENT SHUNT AMPLIFIERS, DCA0048A" 20 40
8MHz Y1 1 OSC 3225-4P XTAL Crystal Oscillator 1.9989 1.9989
Total 129.472486

🚀 快速上手

  1. 可使用AD软件打开 FOC_Controller.PcbDoc 文件,根据需要进行修改或生成Gerber文件发送给PCB板厂进行制作。工艺为四层板,建议外层铜厚1oz及以上,内层铜厚0.5oz及以上。
  2. 使用趁手的焊台进行焊接。
  3. 检查焊接与上电是否正常。
  4. 进行FOC控制代码的设计与验证。(或等我更新)

📧 联系我

如有未尽事宜或其他合理问题,可以通过电子邮件联系我 电子邮箱:Deane_Chen@foxmail.com 个人网站:https://www.luheqiu.com

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简介

基于FOC控制算法和STM32主控芯片的双路直流无刷电机控制器 展开 收起
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