yuntai is composed of two ac or dc motor installation platform, horizontal and vertical movement, like the camera haeundae. Yuntai rotation is generally slow and precision turning, so yuntai motor rotation quick-frozen request is not high, so use a low speed open-loop control can make his job to run normally. The following is a yuntai brushless motor control experience. control code is as follows: PWM_CHANNEL1 = arm_sin_f32 (rotate_angle_elec)* 500 + 500; PWM_CHANNEL2 = arm_sin_f32 (rotate_angle_elec + 2。 094f)* 500 + 500; PWM_CHANNEL3 = arm_sin_f32 (rotate_angle_elec + 4。 189f)* 500 + 500; the open-loop control itself is a problem, from the point of view of vector control, motor vector and magnetic vector direction when the rotation does not match! Specific phenomenon is that the open loop control motor rotation, motor act speed increase and decrease in cycles, it has to do with magnetic switch.
how to solve this problem? Very simple, brushless motor, with a conventional PID closed-loop control, is much more completed. closed loop sensor by gyroscope is completed, checked by actual measured, speed control, even very much! But there are several requirements: 1, control, consider 500 hz, 2, suitable for sensor data, and more accurate, it should be strict, otherwise no matter how to adjust parameter are useless. the indoor use of the request is not high, outdoor is relatively a bit higher.
