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Field-oriented control motor drive software for 3-phase permanent magnet synchronous motors that supports both sensored and sensor-less operation.

This project contains the software that implements the field-oriented control (FOC) of a 3-phase permanent magnet synchronous motor (PMSM). Support is included for controlling the motor either using a physical shaft encoder ("sensors") or by estimating the motor's shaft angle using other sensed data ("sensor-less").

At present, this software is configured to operate on an STMicro STM32F439 processor. The supported motor is a Segway I Series PT motor (these can be found on eBay). The gate drive and power electronics are provide by a Texas Instruments DRV8312EVM evaluation module (note that the DRV8312 is utilized without a processor installed). The motor bus is operated nominally at 24.5 volts. A combination of a power supply and batteries are used to provide the motor bus power.

Please see the block diagram and setup notes in the documentation folder for more information about the setup's configuration.

There are many fine motor drive software examples available. Many of the available examples, however, target very specific low-cost lower capability processors. As a result, the software must often be coded in such a way to fit within the constraints of the target processor. These software examples are often marvels of efficiency but they can often be rather difficult to follow.

This motor drive project is targeted to a processor that is rather more capable than the processors often used to control PMSM motors. The software can take advantage of this extra capability to concentrate on the PMSM FOC algorithms themselves without having to add the extra complexity required to fit within a smaller processor's footprint. As a result, the motor control portion of this software:

• Is not highly optimized for speed or size
• Performs most of its calculations in floating point
• Uses engineering units for most values. For example, bus voltage is expressed in volts with 1.0 volt being represented by the value 1.0
• Where possible, processor specific items are reserved for the low level hardware interfaces and are not present in the motor control algorithms themselves

At present, this software controls a single target motor using either a motor shaft angle sensed with an analog encoder or an estimated shaft angle computed using one of two available algorithms. Up to this time all testing and loop tuning has performed with the motor operating without a load. Data logging is supported with a basic serial console and a high speed DAC output.

Planned updates include:

• Verifying and improving performance with the motor under load
• Adding support for a more commonly available motor (for example the Anaheim Automation motor included with the TI DRV8312EVM kit)
• Improving the external data logging and motor control tools
• More fully documenting the setup and its operation