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[1] Objective
This Project is designed to PID Control the Speed and Position of BLDC Motor.
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[2] Specification
- PI Speed Control Mode
- PD Position Control Mode
- PID Position Tracking Control Mode (Trapezoidal Speed Profile)
- Transmit Speed or Position data to PC by UART with DMA (Then, PID Gain Tuning by using MATLAB of PC)
- Plot Speed or Position data in Real-time
- Touch screen Input (Transmit Input Coordinates to MCU by SPI Communication)
1. Block Diagram of BLDC Motor Controller
2. Schematic of BLDC Motor Controller
3. PCB Artwork of BLDC Motor Controller
4. Detailed Description of BLDC Motor Controller
[1] Hall Sensor Signal
Detect the Rotor Position from Hall Sensor Signals
- EXTI Interrupts are triggered at Rising/Falling Edge of Each Hall Sensor Signal
- Calculate the Current Position & Speed of Rotor in EXTI ISR
- Turn on only One pair of High Side MOSFET – Low Side MOSFET to Generate Magnetic field Orientation, appropriate to Current Rotor Position
[2] Control Signal
Only One pair of High Side MOSFET – Low Side MOSFET is Turned on at a time
- Direction of Rotation : The Direction of the Magnetic field is determined by which pair of MOSFETs are selected
- Speed of Rotation : The Strength of the Magnetic field depends on the Duty of the PWM signal applied to the Low Side MOSFET
[3] PID Gain Tuning
It can be confirmed that the current speed of the BLDC motor perfectly follows the reference speed through PID Control.
5. Bare PCB & PCBA of BLDC Motor Controller
6. Verification of BLDC Motor Controller
7. Summary
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