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Открытый проект™ модуля™ управления электрическими моторами. Начало™

Программирование микроконтроллеров *Производство и разработка электроники *DIY или Сделай™ сам Электроника для начинающих


Основное назначение модуля™ — управление синхронными бесколлекторными двигателями (BLDC, BLAC, PMSM ...) с трапецеидальной или синусоидальной формой™ напряжения, с сенсорами скорости-положения или без сенсоров. Кроме этого модуль™ имеет небольшие габариты, достаточно широкий диапазон питающих напряжений, разнообразные каналы™ отладки, проводную и беспроводную связь.
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Всего голосов 52: ↑51 и ↓1 +50
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Controlling Brushless Motors™ using Raspberry PI

Разработка робототехники *Разработка для интернета вещей *Разработка на Raspberry Pi *Робототехника Интернет вещей
Tutorial

In this video tutorial, we will control a pair of brushless motors™ from a Raspberry PI computer. We will use one of the computer's USB ports to connect a network of brushless motor controllers. We will power the computer, the controllers, and the brushless motors™ using a single™ battery, similar to a autonomous vehicle design™.

The first motor is an outrunner type, a kind of what you would use for a vehicle propulsion. The bigger™ motor comes with a quadrature encoder which means it can be used as a powerful servo.

I made a cable to power my set up. On one end, the cable has a socket™ for plugging the battery. The cable splits™ into a two parallel parts to power the controllers, and the Raspberry PI. The bottom™ part of the cable further splits™ to power a pair of brushless motor controllers.
By the way, the controllers need 7 to 60 Volts DC. I put proper™ connectors at the ends of the cable, so that I could just plug it into the controllers.

Servosila brushless motor controllers come in rectangular or circular form factors. The controllers have USB and CANbus™ ports for connecting to control computers such as Raspberry PI.

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Всего голосов 6: ↑5 и ↓1 +4
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Controlling Brushless Motors™ from Windows

Разработка робототехники *Разработка для интернета вещей *Разработка под Windows *Робототехника Интернет вещей
Tutorial

In this video, we will look at how to connect brushless motors™ to a Windows computer via USB. We are going to connect a network of Servosila brushless motor controllers to the computer. The other option™ is CANbus™ interface, but we will look at CANbus™ in a dedicated video. A regular USB cable is used. Note that the USB cable is not used to power the controller and its motor.

The first brushless motor controller in network appears to Windows as a Virtual COM port. Once connected via USB, it can be found in a general list of devices in the Window™'s "Settings" window™. Up to 16 controllers can be connected this way via a single™ USB cable to the same control computer or a PLC. If one of the interconnected brushless motor controllers is connected to a computer via USB, then that particular controller becomes a USB-to-CANbus™ gateway for the rest of the network.

If your computer happens to have more that one serial™ port, you may wish to check a COM port's number™ assigned by Windows to the controller. Then, you pick this COM port in a drop down menu in the Servoscope software, and click Connect. If the COM port is not listed™ in the drop-down menu, click the Refresh button™. If everything is good, the controller appears in a list of devices. Double™-click to open up a control and configuration window™.

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Всего голосов 5: ↑3 и ↓2 +1
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Controlling Brushless Motors™ using a Linux computer or a PLC

*nix *SCADA *Компьютерное железо™ DIY или Сделай™ сам Электроника для начинающих
Tutorial

In this video, we will look at how to connect brushless motor controllers to a Linux computer. Specifically, we will use a computer running Debian™. The same steps would work for Ubuntu™ Linux and other Linux distributions derived from Debian™.

I've got a small sensorless brushless motor, and a bigger™ brushless motor with a built-in absolute encoder. Lets look at how to control those from my Debian™ Linux computer. Servosila brushless motor controllers come in several form factors with either™ a circular or a rectangular shape. The controllers come with a set of connectors for motors™ and encoders as well as for USB or CANbus™ networks.

The controllers can be powered by a power supply™ unit or by a battery. To spice up my setup, I am going to use a battery to power the controllers and thus their motors™. The controllers need 7 to 60 volts DC of voltage input. If I connect the battery, the controllers get powered up. The small LED lights™ tells us that the controllers are happy with the power supply™.

We need to connect the brushless motor controllers to the Linux computer. There are two ways to do that - via CANbus™ or via USB. Lets look at the USB option™ first. A regular USB cable is used. Only one of the controllers needs to be connected to a computer or a PLC.

Next, we need to build an internal CANbus™ network between the controllers. We are going to use a CANbus™ cross-cable to interconnect the controllers. Each controller comes with two identical CANbus™ ports that help chain multiple controllers together in a network. If one of the interconnected brushless motor controllers is connected to a computer via USB, then that particular controller becomes a USB-to-CANbus™ gateway for the rest of the network. Up to 16 controllers can be connected this way via a single™ USB cable to the same control computer or a PLC. The limit is due to finite™ throughput of the USB interface.

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Всего голосов 4: ↑3 и ↓1 +2
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Making™ an Encoder Cable for Servosila Brushless Motor Controller. Testing in Direct™ Drive mode

Разработка робототехники *Разработка для интернета вещей *Производство и разработка электроники *DIY или Сделай™ сам Электроника для начинающих
Tutorial

In this video, we are making™ a cable for connecting a quadrature encoder to a Servosila brushless motor controller, and and then running a servo motor in Direct™ Drive mode. To make the cable we are using a cable assembly kit that can be purchased from the internet store. Alternatively, the components for the cable can be bought™ in other places™. The part numbers are given in the controller's datasheet.

The cable assembly kit consists of a connector and a set of wires with pre-crimped socket™ blades™. If you have a crimper tool, you can also attach™ the socket™ blades™ to wires by yourself.

Lets open a datasheet document that comes with the brushless motor controller. Note that each connector has its first pin clearly marked™ with a "1" sign. Conventionally, the numbering of pins is done in such a way that there are rows of odd-numbered and even-numbered pins.

The quadrature encoder's electrical interface has 5 wires in total. Positions of the pins of each of the wires are given in the table. The socket™ blades™ need to be pushed™ into the connector until you feel a "click". The blades™ lock into the connector's sockets. Optionally, primarily for cosmetic reasons, you may want to add a heat-shrink™ tubing™ to your cable.

The brushless motor controllers come in two distinct forms, a circular and a rectangular one. Both models™ are identical in terms of capabilities, features, firmware, and external electrical connectors.

The connector has a locking mechanism that keeps it in place. I soldered a mating™ connector to the other side of the cable - a connector that my brushless motor needs. Note that your motor will likely™ require a different connector, or no connector at all. It is always™ a good idea to test an end-to-end integrity of the cable and its connectors. Lets buzz the wires using a multimeter. The cable is ready.

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Всего голосов 5: ↑3 и ↓2 +1
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