STM32-SERVO-FOC-PMSM-with-Encoder

STM32 SERVO FOC PMSM with Encoder

I made this inverter to experiment the servo motor FOC algorithm. As you can see in the files I made it with Keil MDK and STM32CUBEMX with STM32F103. This software version is not the final version, I want to add another things like NRF24L01 Communication. I´m testing it with an old Fanuc 5S/3000 junkyard servo motor (3000RPM 107V 10A 5,9Nm) with 2000ppr incremental encoder.

Features

• STM32F103 ST 32 bit microcontroller
• STK621-061 30A Three Phase hybrid power inverter with predriver, overcurrent and overtemperature protection
• ACS712 Current measurement / Motor Phase U and V current
• Encoder A-/A B-/B Z-/Z input
• VBus Measurement

Working until now

• Center Aligned PWM TIMER 1
• Iq and Id PID current control
• My Encoder have 2000 cpr, that means 8000 rising and falling edges in TIMER 2 Encoder Input
• The motor is running fw and bw depending on Iq Set point, positive and negative POT variable values changed in debug mode (Simulating a potenciometer)
• Encoder Z input to “align” incremental encoder and the software
• Absolute position measurement in degrees
  • TIM2 compare generates interrupt each time the Encoder input counts 2000 pulses up, or down.

PHOTOS

Fanuc motors

Rectifier and Inverter

Inverter PCB

Inverter PCB + Home Made Stencil

TODO List

• Space vector modulation?? maybe not necessary
• NRF24L01 Communication
• Speed control loop
• Position control loop

Safety instructions

You have to use an ISOLATED USB or an ISOLATED STLINK to protect you PC of any transient or short circuit. I bought in Aliexpress an USB isolation board that works great. I´m sharing this files for educational purposes. Remember to use it with care, building a system like it you will deal with high voltage 220AC and it is very dangerous :)