What is FOC? (Field Oriented Control) And why you should use it! || BLDC Motor
ฝัง
- เผยแพร่เมื่อ 29 ก.ย. 2018
- Trinamic Website: www.trinamic.com/
How to set up the TMC4671 FOC Servo Controller video: • How to set up the TMC4...
Previous video: • How NOT to make a Modi...
Sensorless ESC video: • Make your own ESC || B...
Sensored ESC video: • Make your own Sensored...
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In this video I will show you how Field Oriented Control (FOC) works and what advantages it offers in comparison to traditional ESCs. Along the way I will also present the TMC-4671 IC from Trinamics which features hardware that offers the FOC functionality for motors.
Websites which were shown/used in the video (useful):
www.db-thueringen.de/servlets...
www.roboteq.com/index.php/app...
www.maccon.de/fileadmin/redak...
www.trinamic.com/fileadmin/as...
Thanks to Trinamic Motion Control for sponsoring this video
Visit www.trinamic.com/ to get awesome motor control ICs
Music:
2011 Lookalike by Bartlebeats - วิทยาศาสตร์และเทคโนโลยี
Do you like the small animations in the video or do you prefer my hand drawn style? Let me know!
I love some animations!
Animations are better
Hand drawn style is your USP so I prefer it.
The animations are cooler, isn't it ?
Hand drawing
Do you know who should sponsor your videos?
A markers company.
Yes so true, some pens that allow clean stabilo-boss flashy over lighting
hehe
You wasted an opportunity to title the video "What the FOC!"
I honestly never thought of that. Dammit!
Take a while to get it 😂😂
"This waveform is very jagged and sharp and it could attack at any moment. So we must deal with it."
i would say that's a really stupid title, for any reason other than showing legitimate problems with it.
@@nicewhenearnedrudemostlyel489 why don't you go FOC yourself? 😂
I like the animation style for moving things because it adds more movement to the video.
Especially when working with motors.
Of all the FOC explainers on here , yours is by far the most enlightening. THANKS!
That video was written right spot-on to my level of understanding. For me, it was perfect! I really liked the explanation of when is the best time to energize a stator coil, for a given angle of the rotor. And further it was explained that since current lags voltage in an inductor, the timing of when to energize the stator coil has to be adjusted as well.
Really excellent stuff! 👍
The crux was explained neatly
I come back to this video at least once or twice a year. Thanks for making this.
I'm not much on idols but you are well on your way. Thank you for dedicating so much time to learning us a few things.
Wow!!!! Excellent video here!!! Wow! Such detail and attention was made here. I like the animations due to the fact that everything can be seen in movement or at least propagation. Keep up the amazing and ever improving job!
0:37
field is pronouced (feeld) like the word feel but with a d at the end
Good to know
I'm disappointed that this thread wasn't a shitstorm like the one about 'ceramic'.
I was about to make the same comment. Since English isn't his native language I was trying to think of a way to be tactful about telling him how to pronounce field.
He knows that, because he pronounces it correctly later in the video. But why do you add an "s" to the end of half the words that should and with d/t? "saids", "get rids", "work outs", "grounds", "a fields", "a FETs" (and no, it's not a plural s). That can be quite confusing.
English, in general, is hard. But the only way to get better is by practicing and correcting your mistakes.
Great animation video, but I think you should have mentioned the underlying d-q transformation behind the FOC, which lets the controller interpret sinusoidal signals as constant quantities, thus the reference system can be precisely oriented towards the rotor magnetic flux linkage.
Your sponsored videos can really stand by themselves, and that's pretty good.
This was more a presentation on SVM - space vector modulation- then on FOC. Strictly speaking FOC is just what you skipped over at 6:40. Also while dedicated FOC chips seem nice, modern microcontrolers are more then capable running the whole thing in software. E.G. I have used and seen Texas instruments piccolo/delfino chips run multiple motors in FOC with no problem. I have seen 1 delfino uP run a "12 phase" motor (like if you had 4 motors on the same shaft, each runing its own foc) with no problems.
You wouldn't actually want to sync the phases because inaccuracies in the motor mounts and alignment changes under load would result in a your sync'd phase transitions being inappropriate for one of the motors.
can i have your email id?
6:45 ah yes, the time honored tradition of highlighting everything in a diagram. ;P
ESC technology is really a very interesting topic. I hope you keep on digging deeper and eventually are able to come up with a great design for us all to make ourselves, based on for example this chip plus standard MOSFET's, some microcontroler and a homemade Hall-sensor-based axis-positon controller. Efficiency and accuracy may be a bit lower but controlling reasonably high-current BLDC's would be nice. Would that make sense or should we just buy O-drive or VESC's for about $100 because it is too complex and because the standard components added up are equally expensive.
Wow, nice job trinamic!
Thanks for sharing👍😀
Awesome video as always! Thank you, keep up the good work!
I like your project videos more.. And waiting for one...☺
Sending your company' stuff to GreatScott is best way of marketing, I guess (but only if your product is seriously good)
Omg 😮 I was trying to find a video I watched about latest Bldc driver controllers but can’t seem to find it and thought I must have dreamt it ! But lucky I find your video that proves better driver tech is real . I wish I could find other video though as it explained certain things that I want to research further and I think you may like it . I just bought aeg fusion drill and it has latest Bldc motor controller which nearly doubles it torque from 70 nm to 140nm . I also uses Panasonic 2070 cells instead of 18650 . Very powerful drill .
YAY Trinamic!! they are some cool guys with some cool stuff my man, and their drivers are amazing
I'm happy you didn't just solve the issue with an easily programmable IC with Arduino like you usually do and instead went more in depth.
This reminds me microstepping for stepper motors. Good video!
I never really was able to picture the theory here before! Your videos really help the mathematics (of the theory) come to life. Thanks.
Glad you like it :-)
Balance out the shaft joint by placing another screw at the opposite side of the one currently placed.
It'll increase the overall rotational inertia- but it'll also provide a constant, non-fluctuating load- thus giving better performances.
A lot of energy is spent on unwanted effects such as motor's vibration which you even have to fight with your own hand (a.k.a. improvised vibration damping element)
nope, i need to comment twice :P
these animations are gorgeous! so much information displayed
Great Video as always, but I’d like to point out one thing only. This flux current (direct current or Id) isn’t just representing Power Losses. It really depends on the application and it comes down to the algorithm which you use to implement FOC such as MTPA (Maximum Torque Per Ampere), Constant torque etc. Also, this direct current will really help you achieve more RPM for the same Power in the exchange of some Torque. This phenomenon is called MFW (Magnetic Field Weakening).
Anyways, great channel, keep it up man! You’re a great motivation for a lot of young Engineers!
Thanks for the feedback and thanks for the information.
Direct Current is for building a field inside of an induction machine. Kinda like the shunt coil in shunt DC motors.
BLDC motors/PMSM have a permanent magnet building a field. Thus direct current is all loss, the direct current has no rotor field windings to couple with. You set Direct current to zero in the park/clarke controller BLDC/PMSM.
Field weakening gets me an extra 10-15mph or so out of my ebike. Which takes it up to 65mph top speed at 100v with a torque wound motor.
Thats an induction machine right? So you mean a "Wound Rotor" motor. That means there's no permanent magnet, and the magnetic field is generated with the direct current coupling to the rotor windings.
The stronger the magnetic field, the more torque but less speed. The weaker the magnetic field the faster the speed but less torque. FOC lets you control the amount of direct current so that after you have started (accelerating your vehicle takes the most amount of torque, at a constant speed the only torque you need is to counter friction and air resistance) you can lower the direct current to get more speed.
You guys really know your FOCs and BLDCs...
hello, excellent presentation of the product:
I would say that this is a valid solution: rewriting what you are explaining it increases the strength of penetration of the message: I am Italian, I do not know very well English (German even less) and I struggle to follow you (fortunately there is still and the speed at 0.75) but your diction is clear and not too fast so understandable for me: Great, Scott!
another style of presentation that I consider very effective is that of DroneBot Workshop: it is very nice and understandable even if I think it is much more complicated to realize than your writing in real time:
Trinamic is an awesome solution.
Thx for all the great vids.
had to use some CLARK-PARK (and inverse) transforms very recently in the controller of an inverter so when I saw the datasheet I skipped a bit! Amazing times...
nice animations makes the video more easier to understand keep it up Mr Scott!
Thanks for the feedback
you're welcome!
I've never seen a donkey in a datasheet before
It's a donkeybridge 🐎🌉
soo is it a donkysheet?
😂😂
smoother field movement in space with time is the major plus point of FOC. FOC can simplify the control strategy of a 3 phase AC induction motor or a PMSM to look like that for a DC shunt motor where torque is a function of current drawn and the speed a function of voltage applied to it.
Nicely explained ,Thank you 👍👍👍👍
Excellent!!
..more please!! 👍
Eselsbrücke Adapter. You made my day.
perfect explanation 👍 Thank you so much
I'm so deeply interested in these motors for some reason. I'm a diesel engine mechanic with mere basic understanding of electricity and barely that much when it comes to electronics. Your channel has been very helpful sir, I thank you for that. I am on this epic journey of building my own driver for this rather large bldc motor I have. Something that would probably be relatively simple for you. Nevertheless, I'm committed.
That ic seems incredulous. The frequency of switching is beyond comprehension. Will definitely be snooping around their website today. Great video 👍
Thanks for the feedback. I hope you will be successful in creating your driver.
@@greatscottlab hey man, have you heard of these intelligent power modules?!? Most amazing thing ever. I know this is all about DIY, but most of the time DIY is to save money. Anyways. Theyre pretty amazing devices. 300amp rating inverter to-220 ics. Im going to get a couple from Alibaba.
Superb I learnt a lot of things
Here in my company, we use this tmc ic. For stepper motors we use tmc5160. It's really great.
What size load is this powering in your company?
Excelente gracias por tu tiempo.!
Always great!
Can't wait till you get a million sub
I was actually doing research on that exact IC and cursing the fact that the DEV board is so crazy expensive when I got the notification.
Your Channel is Awesome!
Great job! It was very interesting ^^
It makes me nervous when you use a screwdriver as a pointer for your oscilloscope 😅
as I see it, I have a small heart attack. :)
what else can he use tho??
Aweseome IC but "The TMC4671 does not support sensorless FOC" is a bit of a bummer.
The animations are great
Great as always!
Thanks for super understandable video (y)
Ich musste das für die Matura lernen, habs aber bis jetzt nie verstanden. Danke!
Hopefully this will lead to the eBike market having the high voltage high amp niche they require filled. It's hard to find a controller with FOC that can do the high power levels that eBikes usually run at.
Unitech or Sevcon make pretty big ESCs with FOC
The Trinamics power stage kit that he showed in the video was capable at 70V, 10A. That should get you a nice 700W, which is close to the legal limit in the cities I'm in
The 4671 can also drive other gate drivers that can drive igbt or high power MOSFETs for high power FOC
I like the new attempt at the animations done my software. Nevertheless, I usually prefer the hand drawn style. I suggest that a good mix of the two (animations for more complex drawings, and hand drawn sketches for simpler illustrations, for example)
Edit: Keep up the good work! Love your videos.
great work!
can you please do a simulation for a three-phase induction motor variable speed drive using FOC?
Wow, i worked with this in my master :D
It would be very nice to implement the board with your DIY Arduino sensored controller. Thanks for the video
Great scott! I always watch your videos every you post it and i love it and useful. :-) I want to ask to make digital voltmeter even ammeter using an arduino? Thanks.
Hello from Greece
Amazing video!
Excellent
I didnt know you have this video T.T thank youuu
Road to one milion
Thank you buddy.
so the quadcopter project is still going? :)
It's a secret!
@@greatscottlab Maybe a little hint ?😂
@@greatscottlab are you making a manned quadcopter that will put you in power similar to government position?
@@greatscottlab is it a hexacopter
And post a video about it
I like the cool animations
It is very good
nice video dude.. i love sunday because your videos..
Awesome! Glad I could brighten up your Sunday.
Hi Scott can you make a video talking about galvo servos it would be awesome
Gaday from Australia mate!
Go West Coast!!! :)
Heck yeh
nice, animations are cool
these drivers would be great to use on a combat robot platform for the drive wheels if someone had a more compact driver board that accepted signals from an RC receiver.
Please make a video about making Power stages which can be used with different motor control circuitry.
Very interesting.
really illustrative animations you did this time, great!! however, on 5:14, shouldn't "Step 7" result in a vector of length 0 (i.e. a point at the origin)? In Step 7, (and step 0), no field in created (I think).
I appreciate the video, but it would be nice to note the that modules he recieved are pretty expensive to buy. The TMC4671-ES IC is only $14.26 currently at Digikey (qty 1, no price break shown for more), but the eval kit is nearly $400. Still, it's nice to know these exist. It may be interesting to search for similar software solutions, even if they are not quite as good as the custom ICs.
I like the animations...
good topic
Very nice
What motor donyou use in this vid? Looks liike a good candidate for my next project
That is a very nice chip, though I think going a diy PCB would be interesting, the QFN76 package is 11.5mm by 6.5mm and 76 pins!!! Not for the faint hearted. I believe the TMC4671 breakout board is 4 layer, adding more cost and complexiy to any hopes of DIY, maybe I'm too old haha.
How many hours does it take you to make such amazing videos? Don't you get tired from time to time? Btw great content!
Actually this video is pretty useful, but it is about SVM in place of FOC, well one is control strategy and other is a modulation strategy. In BLDC you could use SVM to advance the voltage phasor angle to match with the impedence and back emf, where as in IM one could orient and decouple the flux and torque producing current commands to be issued to the SVM modulator.
@GreatScott! like your video a lot ........think you have load of experience......I replaced the the molten down 1kw brushed my1020 Motor with a 80100 outrunner (sensorless :C) in my forca evoking scooter. I am almost sure that it is not worth to try running it with my 14S120Amp RC motorcontroller.......so i wait for a VESC4.2 i decided ......U think this will propperly accelerate ?
Great video! Do you plan on making a video on BLDC motors using the ODrive? That would be really cool :)
nice ic
Nice video like always, do you fix your custom vesc?
No. Never got to it.
i had my project on collage about foc, the interesting part about Foc is, you need to model your controller with stator rotor impefances, it impacts speed and position control massively. I had a detailed project and matlab models about it on collage, i can share anyone who is interested
Hi i need the matlab models please send it to gangireddynagarjunareddy8@gmail.com or please share your email id here i wil contact you
I am working on a similar project. It would be really helpful for me. If possible please send the matlab files and related documents to afzubhan@gmail.com.
Thank you
I am interested, can you please share it ti amansinha817@gmail.com
do you still have your foc project. I would love to take to look at it. Doing my university project about same foc
Hay greatscott I'm new to the soldering world and wanted to know about mosfets what are they? How are they used and are they anygood?
Hello BigScott, maybe try to build my new generation of four-phase Brushless Hybrid Fast - Rotation Motor? Preferably based on the Nema 23 standard stepper motor. Maybe you will also be able to construct a controller based on the Field Orient Control theory?
I believe that it would not be difficult for you, such a new technical and electronic challenge.
Best regards and congratulations on valuable educational programs 😀.
starting the video without "this video is sponsored by JLCPCB" bit in the beginning ... I can die peacefully now
Hello Scott! "Field" has a traditional English pronunciation of "FEE-eh-ld" similar to wieder
Can you implement an FOC algorithm on your DIY ESC? That's kinda what I was hoping for in this video.
FOC takes quite a bit of horse power to run. You need a pretty fast micro preferably with floating point math capabilities implemented through hardware such as a math co-processor or a CPU that supports floating point instructions. You could also do it with fixed point fractionals, but it wouldn't be as straight forward as floating point.
@@RingingResonance You can run a fixed point sensored implementation on one of those STM32 bluepill boards, but that's stupid. Better to get a genuine STM32 nucleo board or Texas Instruments C28x LaunchPad than to waste time with potentially defective bluepills from China. Something like sensored FOC is actually rather easy to implement in floating point, feed currents through the transforms one way, PI controller, then feed the voltages through the transforms the other way. Sensorless isn't that much harder to implement if you're ok with startup cogging.
Gentlemen ! What is Ur qualifications I'm means Ur engineering dencent man , I'm also engineering student electronics and communication engineering and I always watch all whole video and ur my ideal I want to become a electronics and communication engineering like u Ur dencent in all phases man love from India 😍😘
Can you explain how implement the FOC technique in closed loop bipolar stepper motors?
can you do a whole video on the O-Drive? Minaly focusing on its precision and Advantages over a Normal Stepper-Motor
Sorry but I am not interested in making such a video.
Can you recommend a soldering station?
Would one of these boards be a start of a good ebike controller?
I liked the video before Even watching it!