Скачать или смотреть BLDC Controller for balancing robot. Based on STM32F303RE.

Balancing Robot - Controller Board.


Properties:
Controls 2 BLDC gimbal motors with FOC method (SPWM modulation)
Controls 8 servo motors
Integrated gyro, accelerometer

Communication over SPI with RPi or other computer boards
Internal EEPROM memory for configuration storage
Board must be fully autonomous in regards to keeping balance and speed, direction of robot. It suppose to receive only general commands like 'Proceed forward with speed 10'
Automatic calibration for use with various BLDC gimbal motors without rewriting code

Monitoring of load (current) on each BLDC motor


Main parts used:
STM32F303RE - microcontroller
L6234 - 3 phase motor driver - 2 pcs
MPU6050 - accelerometer / gyro
AS5600 - 12bit magnetic encoder - 2 pcs

INA2181A - monitoring of voltage drop on motor shunt resistors
M24128-B - EEPROM


Presently board fully assembled and software development is still in progress.
SPI communication is still missing. Some robot related routines have to be added.
BLDC FOC control and servo control is completed and working.