odrive perform Sunnysky X2212 980KV motor with Encoder TLE5012B

我的Odrive Board

版號: Odrive v3.6-56

ODrive control utility v0.6.5.post2

Odrive 硬件內部 FW V0.5.6

odrivetool 架構在Anaconda的多重Python環境中

要讓ODrive啟動要在odrivetool中設定以下四個configuration

主板 configuration

dev0.erase_configuration()

dev0.config.brake_resistance=2.0

dev0.config.dc_bus_undervoltage_trip_level=8.0

dev0.config.dc_bus_overvoltage_trip_level=56.0

dev0.config.dc_max_positive_current=20.0

dev0.config.dc_max_negative_current=-3.0

dev0.save_configuration()

電機 X2212 motor configuration

dev0.axis0.motor.config.pole_pairs=7

dev0.axis0.motor.config.calibration_current = 5

dev0.axis0.motor.config.resistance_calib_max_voltage= 2

dev0.axis0.motor.config.motor_type =MOTOR_TYPE_HIGH_CURRENT

dev0.axis0.motor.config.current_lim=15

dev0.axis0.motor.config.requested_current_range=20

dev0.save_configuration()

Magnetic Encoder TLE5012B

dev0.axis0.encoder.config.mode=ENCODER_MODE_INCREMENTAL

dev0.axis0.encoder.config.cpr=16384

dev0.axis0.encoder.config.bandwidth=3000

dev0.axis0.config.calibration_lockin.current=5

dev0.axis0.config.calibration_lockin.ramp_time=0.4

dev0.axis0.config.calibration_lockin.ramp_distance=3.1415927410125732

dev0.axis0.config.calibration_lockin.accel=20

dev0.axis0.config.calibration_lockin.vel=40

//---controller setting

dev0.axis0.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL

dev0.axis0.trap_traj.config.vel_limit=30

dev0.axis0.controller.config.pos_gain = 30

dev0.axis0.controller.config.vel_gain = 0.02

dev0.axis0.controller.config.vel_integrator_gain = 0.2

dev0.axis0.controller.config.input_mode=INPUT_MODE_TRAP_TRAJ

dev0.axis0.trap_traj.config.accel_limit=5

dev0.axis0.trap_traj.config.decel_limit=5

dev0.save_configuration()

dev0.reboot()

//-- Test

dev0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION

dev0.axis0.motor.config.pre_calibrated = True

dev0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION

dev0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

dev0.axis0.config.startup_encoder_offset_calibration= True

dev0.axis0.config.startup_closed_loop_control = True

dev0.save_configuration()

dev0.axis0.controller.input_pos=10

//-------------

pip install matplotlib

start_liveplotter(lambda: [dev0.axis0.encoder.pos_estimate])

在live_plotter調適的畫面

利用CAN BUS進行ODrive位置控制影片如下