Brushless DC Speed Controller
ฝัง
- เผยแพร่เมื่อ 31 ต.ค. 2021
- In this video I'm going to show how i built a brushless DC (BLDC) ESC (electronic speed controller) based on an Atmega328P microcontroller. This ESC was a prototype for a much larger one that I'll be using to drive the 1500-watt motors on my submarine. The video also explains the theory behind how a brushless DC motor works, and some troubleshooting tips that you may find helpful if you build one of these yourself.
The code i used for the first test can be found here:
simple-circuit.com/arduino-br...
I later modified it to add a reverse function and adjusted the startup sequence settings to get a smoother start to my motors.
A guide on using the Atmega328P microcontroller by itself (without the arduino board) can be found here:
www.arduino.cc/en/Tutorial/Bu...
Hardware used:
MOSFETs: IRLZ44
Flyback Diodes: MUR120G
MOSFET Drivers: IR2101
5V Linear Regulator: LM7805
MOSFET Driver supply regulator: LM317
The motor used in the first part of this video is a very old brushless motor i used to fly on a drone, and I'm not sure what the part number is or if it's still in production.
The submarine motors are Turnigy SK3 6374-192 kV brushless motors. I've replaced their ball bearings with bronze sleeves, and coated the rotor and stator with enamel to protect against saltwater.
Arduino Code:
drive.google.com/file/d/1R6RO...
I've updated the description with a link to the arduino code
without checking the source it reeks of the electronoobs guy. he's the king of the 328p haha
@@jstro-hobbytech 😊
Can you plz given me the circuit diagram or garbal file
when will be the video about the bigger ESC
@@jstro-hobbytech@@a
You know you're in for a treat when the video starts with the words "My submarine...".
I died hahaha
Exactly...
My submarine-themed bathroom is relaxing to see while taking a dump.
My exact thoughts lol
Haha EXACTLY. A rare combination of words you hear spoken indeed.
As with any experimental project, you start from the basics, and when you get it kind'a working, you add other options to fine tune exactly what you really want. Amazing how large such circuits end up being. Been there done that so many times... Thumbs Up!
I have to tip my hat off to you Sir. This video really refreshes my knowledge of electronics with all the buzz and straight information on the subject matter. I am looking forward to check out your other videos to bring my knowledge of electrical stuff to on par.
Job well done Sir too.
Have yourself a Merry Christmas and A Happy New Years fella. Hope great things for us both in the New Year.
I just wanted to say thanks for sharing your project, It provided inspiration and impetus. I had been putting my own ESC project off for a while. A combination of analysis paralysis and trying to think of all the required features. I decided to go with through hole components (majority) and an arduino after seeing this video. My motor is now up and running. Thanks again.
It’s because the brushless controller, like servos don’t just take PWM control, they need an exact pulse timing to initialise. If you use a servo library it’ll solve your issues.
They need an exact position of winding wrt magnet position & polarity.. but this is not achievable. with external servo pos. control .....
Here target is stator wdg./ rotor magnet ..ext.servo is for external target/ plant control
It's still PWM, just a particular rage of duty cycle. I'm sure this guy was able to figure that out. The problem with RC ESCs is that they are a bit picky about what signals you send them to start up. Some won't recognise a servo "0" or "180" degree, and will instead only accept signals between e.g. 20 and 160 degrees. On startup they often do some sort of input calibration, so once again if you have the wrong signal being sent at that moment it'll mess things up.
You are a holy engineer. Whispering to esc and motors and stuff. So inspired by your work as a high school student!
Wow well done and thanks for sharing the code. be careful out there the ocean has this way of destroying everything that sied it looks like you know what you are doing! having been on a submarine With The RCN and noting that they spend a lot of time in dry dock and almost never sail I have a lot of respect for what you are attempting.
I found my way here from the cryocooler videos, and YOU HAVE A SUBMARINE! This channel is amazing.
Holy shit, you did something most TH-camrs failed badly to do without even needing external comparators.
When you know your stuff you able to explain it even to babies. Great video.
You are the king!👑I didn't know you can use motor's coil for position sensing.
Yeahh me too!
This is so interesting and impressive! I finally really understand exactly why 3 phase motors have 6 wires, how all these coils relate to only 3 phases, and how the number of magnets are related to the number of coils per phase.
When you were talking about needing a hall effect sensor, I realized you could deactivate one phase and measure voltage on that phase - but then you mentioned using the inactive phase because there's always one that's not driven. Super clever.
There are only two things I may have missed or you didn't address them: the waveform (PWM, simulated sine, or simply square - which is what you're doing), and the other is timing: the ATmega328 does not have reliable timing because of its factory default interrupts. I believe people can get much faster execution and much more reliable timing by programming them in assembly. This probably doesn't matter since you're relying on an interrupt for your timing anyway - so the measurement from the motor is your clock in a way.
Cool project and great video.
Congratulations!
Your video is the best tutorial about the ESC for BLDC motors. Finally, I could understand how does work the BLDC with back EMF control.
Thank you, a lot.
The Arduino code is very optimized for speed, otherwise it would not usefull for this kind of motor control.
Your hardware considerations about the use of the Atmega328's internal analog comparator was great, as well as the Interrupt.
Did you finished the PCB design?
Do you think or plan to sell or share it?
I would like to get it.
Did you test your maximum speed acquired, at despite for your purpose you don't need very high speed, I think.
I was encouraged to see that you used a dual trace scope. I wanted to build my own esc but my motors are delta wound and I couldn't figure out how to detect the zero crossing point with my dual trace scope. I think I'll buy a wye motor and compare a phase with the neutral point as you did.
When running the motor there will always be one phase that is inactive during each step, thats the same for y and delta. Since the inactive coil will move along the permanentmagnets there will be a voltage induced, which can be measured. The point youre looking for is the moment when this induced voltage changes its sign (crosses zero).
@@jonibeYT _"...thats the same for y and delta."_
I started thinking about that. It makes perfect sense. With the delta motor only one coil is energized at a time. I'm going to run some tests with that in mind.
I'm just a hobbyist. The problem for me is I have three hobbies, electronics, programming and animation. If I run into a wall, sometimes I will switch to a different hobby and stay zoned in for months at a time. As a result I lose focus on my other hobbies.
Super, c'est très intéressant ces explications,et c'est très sympa de voir le cheminement pour en arriver au produit fini.!
Great video , your voice was super clear , thanks
Love your channel.. great content!! 👌
Now add PWM, current limiting and smooth start and you got a usable brushless motor controller. Probably better to move to STM32 micro with many needed hardware peripherals already built in.
Great Job!! Thank you for Sharing!
Very good video. It deserves more views
good explanation, thanks
Great job, keep up the good work!!!
Greetings Sven
congratulations great video!!
congratulations bro...
This is pretty cool. It's a lot simpler then I would have thought it would be. I mean the feedback stuff is a bit complicated. But it was simple before that 😂
It is good as a homemade esc but it is nothing compared to commercial escs, like blheli32 escs, they have a lot more functions, like low voltage cut off, stuff to help with starting large motors, braking, configurable acceleration rates an using PWM to emulate a sine wave, just to name a few of the advanced functions.
Some nice work there! I'm curious about (more than) one thing ... how did you diagnose that the voltage spike was resetting the AT-mega?
nice to see a demo using back EMF instead of an encoder
Very informative video 👍
How did you modify the BLDCs for saltwater?
This was amazing!!!
If you want to handle huge voltage you can run the esc at 5volt and the it triger the MOSFETs with the cooler that are connected to the huge voltage
Subscribed sir very good content thanks!
Nice info, thanks :)
I'm looking to make my own mixed signal ESC for some DIY quadcopters and I want to use analog computing for the inner control loop. The idea is that sensors provide analog signals while the computer can control it either through sequential logic or a DAC. After computation the net output is fed into a voltage controlled oscillator running an endless loop shift resister which selects the BJT/FETs needed. The idea is that all of this takes place at the rotor so that each rotor has it's own inner control loop with mixed signal state mechanics.
Sounds complicated.
I guess the idea is you WANT complicated!
Well the tradeofff is simplicity for better inner loop response latency.
Great now I’ve started my day thinking about detecting runaway effects and oscillatory feedback
If you made this as a product, I would definitely buy it
This really planted an idea in my head. Could the Atmega and logic be replaced with another BLDC motor used as an input. Hand crank (or pedals in my head) drives a motor to a set of MOSFET drivers to the output motor. Keep the whole thing AC. Manual Speed Controller?
Bro is the next micro reps
Very nice!
Nice video
Well done video, concise. But what is interesting to me is you are putting that motor in the water like that? Or did I miss your cover on them?
Why wouldn't you have motor inside and shaft to outside. Cooling them with the water?? Any particulates that gets inside can jam the rotor.
Nice one
You say that a "Y" configuration produces more torque, but the more appropriate thing to say is that it produces more torque at a given current.
Assuming each phase is 1 ohm and we're powering the motor with 10V, at zero RPM the "Y" configuration will draw a maximum of 6.66A, while the delta will draw a maximum of 20A. At these respective currents though, the "Y" motor produces %66 of the torque of the Delta motor while only drawing %33 as much current.
My example and numbers assume that the all three half-bridges are either 'pushing' or 'pulling' at all times instead of only two at a time like yours, but the numbers are similar either way. If we leave one half bridge turned off, at zero RPM the Delta draws 10A, and the "Y" draws 5A but produces the same torque as the Delta.
Due to the increased inductance per phase of the "Y" type though, it will have a higher impedence at a given RPM, so you were right in saying that Delta is faster. The way I prefer to think about it is that "Y" configurations are good when current is the limiting factor, and Delta configurations are good when voltage is the limiting factor.
Fantastic video though! I love your channel.
EDIT:
I see you're using the IR2101. I was designing an ESC with those aswell, but I recently discovered the IRS2184. Just like the IR2101 it supports bootstrapping, but it also lets you switch from HIGH to LOW with a single input pin, and has a built in 400ns dead-time so your high side and low side MOSFETs dont transconduct. It also has a turn-off pin so that you can easily throttle your motor with a PWM signal generated by your Arduino.
I want my OWN submarine!
Can i use yours sometime? Hmmm?
This looks like much fun!
I can't dive any more due to eustachian tube spasms in one ear, so this looks like next best thing.
Maybe better! Def better. 👍 👌
NICE MAN !!!!
Super great. can you provide also the motor 3D printed frame ?
Great broo
Correct me if I am wrong but the feedback lines are connected to the Y point of the motor windings.Therefore, D7, c2 and c3 see exactly the same input.
I still have the scars across my fingers 3 years after breaking the golden rule of "No Props in the shop" and having a unbalanced motor break free of its mount and bite me.
I'd highly recommend considering it. :)
Thx buddy is all I can say
hi, very nice.thanks
Soon you will be recognised
yes thanks.. if it's a free source atmega328 bike controller for everyone, well the part, pcb and code awaited
super channel!
Greetings Hyperspace Pirate. First of all thank you for sharing your project. I have three questions:
1) This circuit of yours for brushless motors, is it necessary to give a push to the motor to start it, like many circuits given on the internet?
2) It serves for HD and CD ROM motors with 3 and 4 wires?
3) Can Arduino Nano be used? Thanks a lot.
I wonder if we could make the raspi Pico mcu run the pattern described in the programmable gpio "bit banger" peripheral thingy.
Iam having some douts bro
Is it possible to upgrade 30a esc to much higher ampere by. Addiing parallel mosfets. (Same voltage range)
What are the issiues of this idea
Good video..bom
Is it necessary to turn off motor supply before changing direction? If so how exactly have you switched off the motor?
First of all, congratulations, how many amps can it deliver continuously?
Hi, how did you determine the resistance values of the new back emf voltage divide resistors?
hello my friend. Can you share the final version of the circuit diagram and software? I'm thinking of using it in electric car control. I don't want to buy ready made motor driver. :)
I tried to make a similar circuit, but I could not get the result I wanted from the IR2101. I'm in trouble with the seventh pin. Even if I apply PWM to the Hin input with the second pin, it produces a constant 7 volt output (seventh pin Ho), which causes the mosfet on the H side to remain open all the time. Do you think the diode is causing this situation?
Can you email me a picture / schematic of how you wired your circuit?
The MOST IMPORTANT Question.
Can you please let me know how did you wire slide switch for reverse forward function?
Your Answer wii be Appreciated 👍 👍
Hi, what software do you use to design the project?
Two questions. How do you need to modify the motors for run in salt water? And can we scale this ESC to support 250 Amp. I need one for high speed boat
is this controller can be operated in 12kw brushless motor? i mean if we change a little parts. and also are we have to change some circuit to operate a 12kw bldc motor?
Would you be able to slowly turn BLDC motors with an ESC like this?
I do understand a major part of this but not all and not properly (I'm currently in 2nd year of my electrical engineering)
Can you guide me as to what will I have to do if I wanted it to work with 48v and around 150amps.
Also, can you upload the circuit diagram too.
It'll be very helpful.
Wow. I understand every bit of it, I've designed my own circuits to do all kinds of stuff... but I've never had ANY engineering classes. Not one.
I'm completely self taught, I just figured it out, by reasoning though it.
Where i learned? By reading data books published by the IC manufacturers, of course. You'll find a treasure trove of great info in there!
Everyone should do it, if you want to learn.
Some of the best ones are "App notes," AKA application notes. Those have theory, explanations, reasoning (strategies, etc), everything you'd want.
You can usually download them for free.
Hello. Shouldn't the Vs (6.) pin of the IR2101 be connected to the junction point of the high side and low side mosfets? for bootstrap.
Hello, Im doing a regen braking project and Im wondering how compatible your regular ESC is with that kind of thing?
Your mike is very noisy witch is sad because your content is very good.
Cool.
can it be used for inverter refrigerator compressors, please answer
Absolutely not. Get a standard replacement part.
Can you share the final code with the option of the reverse switch?
4:13 WOW!
how do i get the right 'i' value for starting the motor??, if i use the value of i=5000 the motor doesn't spin
Can I please know what would be the process in case my motor had hall effect sensors.
Do you have an web site to provide all the details to build this controler?
The feedback signal lines on the full diagram are connected to the wrong ends of the windings.
We want the same explanation, but I have to run a larger motor, 320 volts DC
any 400A opensource ESC
it can work with a 36v motor at 12 amps?
No, he said the maximum design voltage was 28
Did you try vesc at all?
Also the video has a fair amount of white noise in the background, jus so you know
Nice motor sound, but b4 you go to Atlantic ossion try enter your code and fine the active of pin7(PD7) of your circuit !!!?
Bro please build the final esc
Thanks do you have any videos bldc esc with sensors
Motorola/ OnSemi has MC 33033 & 33035 available in different packages.. available since 1980's..besides other manufacturers..
(Unitriode) now taken by T.I. also have their own.
What about B-G431B-ESC1? 😉programmable, small, up to 6s and even current sensing
I wasn't aware of that. Looks like an interesting option but I'm not sure if it will meet my amperage needs
How to get a 310V voltage out to be applied to a 3 phase bldc motor with these specifications?
Probably gonna need MOSFETs with a higher V_DS and change the feedback resistor divider values.
In reality if you're gonna use that kind of voltage you're better off switching to a hall-sensor equipped ESC, which this is not
Have you tried a toroidal prop on the sub?
ADHD Powers Activate! Time to switch back to this project. lol
All water circulation pumps in EU use similar circuit. Pumps like Wilo. I need driver board pcb. I can't find any information on those pump corcuits
Can I use atmega8A ic instant of atmega328?
Hi how are you
Sir I neend circuit digram programming for 1000 watt bldc motor
Can u helped me
شكرا . نريد نشغل متور كهذا ولكن 220 فولط
can you share the schematics
Can you tell me what I don't understand at 7:17 minutes? What is the purpose of the three resistors connected to the ground?
you are not connect to every IC ir2101 pin no 6 with Phase A, B, C respectively. Is it correct ?
Yeah, sorry, that's an error in my schematic. V_s on each IR2101 is connected to the respective phase its driving
@@HyperspacePirate Was puzzling over this one a bit (V_s connection to driven phase missing in the schematic), glad a scrolled through and saw this comment. Thanks for this video, I am finally getting my feet wet with MOSFETs and drivers thanks in no small part to this. Cheers!
Forget it I found it !
Hello! Say please, what is parallel double power resistors? 5:54 Thanks.