Simple Field Oriented Control BLDC motor control library

Introduction

Proper low-cost and low-power FOC supporting boards are very hard to find these days and even may not exist.
Even harder to find is a stable and simple FOC algorithm code capable of running on Arduino devices. Therefore this is an attempt to:

• Demystify FOC algorithm and make a robust but simple Arduino library: Arduino SimpleFOC library
• Develop a modular BLDC driver board: Arduino SimpleFOC shield.

Features

• Arduino compatible: Arduino library code
• Easy to setup and configure:
  • Easy hardware configuration
  • Easy tuning the control loops
• Modular:
  • Supports as many sensors , BLDC motors and driver boards as possible
  • Supports as many application requirements as possible
• Plug & play: Arduino SimpleFOC shield

Supported Hardware

• Motors
  • BLDC motors
  • Stepper motors

Drivers

• BLDC drivers
• Gimbal drivers
• Stepper drivers

Position sensors

• Encoders
• Magnetic sensors
• Hall sensors
• Open-loop control

Microcontrollers

• Arduino
• STM32
• ESP32
• Teensy

Example code

#include <SimpleFOC.h>
 
//  BLDCMotor( pole_pairs )
BLDCMotor motor = BLDCMotor(11);
//  BLDCDriver( pin_pwmA, pin_pwmB, pin_pwmC, enable (optional) )
BLDCDriver3PWM motor = BLDCDriver3PWM(9, 10, 11, 8);
//  Encoder(pin_A, pin_B, CPR)
Encoder encoder = Encoder(2, 3, 2048);
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
 
 
void setup() {  
  // initialize encoder hardware
  encoder.init();
  // hardware interrupt enable
  encoder.enableInterrupts(doA, doB);
  // link the motor to the sensor
  motor.linkSensor(&encoder);
  
  // power supply voltage [V]
  driver.voltage_power_supply = 12;
  // initialise driver hardware
  driver.init();
  // link driver
  motor.linkDriver(&driver);
 
  // set control loop type to be used
  motor.controller = MotionControlType::velocity;
  // initialize motor
  motor.init();
  
  // align encoder and start FOC
  motor.initFOC();
}
 
void loop() {
  // FOC algorithm function
  motor.loopFOC();
 
  // velocity control loop function
  // setting the target velocity or 2rad/s
  motor.move(2);
}

License

MIT license, all text here must be included in any redistribution.