diff --git a/README.md b/README.md index e3b2c93394a2464d567f37aeac10f5f0c5688c24..9225d7e4ca821ca0a46a53e5d623098a8ea25e6b 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,7 @@ # AutomataKit BLDC Driver + + ## What The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how. diff --git a/circuit/atkbldcdriver/eagle.epf b/circuit/atkbldcdriver/eagle.epf index 4445efa956d93d04be468901c4960dde148b4b19..6917669704a8f37ade03f4efdeb7eb071f2ce3ea 100644 --- a/circuit/atkbldcdriver/eagle.epf +++ b/circuit/atkbldcdriver/eagle.epf @@ -18,10 +18,10 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/motors.lbr" UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/passives.lbr" UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/power.lbr" UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/sensor.lbr" +UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/tag-connect-2030.lbr" UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-Connectors.lbr" UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/jake/tag-connect-2050.lbr" UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlabs-passives.lbr" -UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/tag-connect-2030.lbr" UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-DiscreteSemi.lbr" [Win_1] @@ -119,7 +119,7 @@ Type="Control Panel" Number=0 [Desktop] -Screen="3840 1080" +Screen="1920 1080" Window="Win_1" Window="Win_2" Window="Win_3" diff --git a/embedded/README.md b/embedded/README.md index 93143e8b391aa89fa24eb1b88ff5167607bdda36..36e7c6af30a895c315b105048b48e0abe856b88a 100644 --- a/embedded/README.md +++ b/embedded/README.md @@ -38,6 +38,8 @@ Got this running, feels pretty mediocre. I need to understand commutation a bit https://geekshavefeelings.com/posts/sensorless-brushless-cant-even +bulletproof commutation is encoder-based - low speed, at stall, with variable motors, etc, electromechanical sensing is always buggy. encoder perhaps not fast enough to commutate every cycle, so we need to write a filer / estimator that continues rolling the commutation cycle forward with only periodic input from the encoder - i.e. we contantly estimate speed, update that estimation every time we sample the encoder, commutate according to that estimation + # Notes - read shane colton's pdf on sensorless field oriented control, and his park-transform free FOC solution: sounds cool. finish phase search algorithm. diff --git a/images/atkbldc.jpg b/images/atkbldc.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2f8cf706026331e419d8b2ce576c819f901b4956 Binary files /dev/null and b/images/atkbldc.jpg differ