Providing the KV rating in combination with the phase resistance (not very used for current based torque modes foc_current and dc_current) will enable the user to control the motor’s current without measuring it. You can also use the provided libray examples examples/utils/calibration/find_KV_rating.ino. You once when you get the velocity reached with 1 volt setpoint, you can multiply it with \(30/\pi\)
The KV rating units are rpm per Volt, and as the Simple FOClibrary works with rad/s rather than rpm. You can easily find it as the velocity of your motor when controlled in the voltage torque control with a setpoint of 1 volt - velocity_at_one_volt.
If you are not sure what your motor’s KV is. Depending on the motor mechanics the appropriate value will be in between the 100% to 200% of the motor’s KV rating. We suggest to set the KV value provided to the library to 50-70% higher than the one given in the datasheet, or the one determined experimentally.
#Bldc Software Library code#
The library provides an example code to estimate your pole_paris number in the examples examples/utils/calibration/find_pole_pairs_number.ino. Pole pair numberIf you are not sure what your pole_paris number is. BLDCMotor(int pp, (optional R, KV)) // - pp - pole pair number // - R - phase resistance value - optional // - KV - motor KV rating - optional BLDCMotor motor = BLDCMotor ( 11, 10.5, 120 )
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