rene-dev/stmbl

AC Servo Driver for STM32F4

Nico Stute

@crinq

if it shows up as STM32 BOOTLOADER it is in dfu mode

Marian Omnibus

@rabrabar

@issyvarsano which integrator manual?

issyvarsano

@issyvarsano

@rabrabar if you want to use it with linuxcnc , then you need to read the manualfrom the linuxcnc web

Paule2002

@Paule2002

My OS is Windows. I tried to follow https://github.com/nneil/stmbl-notes/blob/master/firmware-flashing-dfu-windows.md But STMBL is recognized as STM32 BOOTLOADER in windows device manager and not as described in the manual as STM Device in DFU Mode.

So therefore it is not recognized from DfuSeDemo and I am not able to flash it.

I will try it again otherwise i think I have to flash it via SWD.

andypugh

@andypugh

@Paule2002 The manual was written by a Mac user. It is possible that the reported status for DFU mode is different in Windows.
If Nico says that "STM32 BOOTLOADER" == DFU mode then I would proceed on the basis that he is correct.

@Paule2002 Addendum: The docs here (https://github.com/rene-dev/stmbl/blob/master/docs/src/Getting%20Started.adoc ) were written by a Mac user. The nneil repository is new to me, and might be more up to date.

Paule2002

@Paule2002

I managed to flash the .bin´s with the new STM32CubeProgrammer which was super easy. Thank you for your support.

Marian Omnibus

@rabrabar

@issyvarsano ok

andypugh

@andypugh

Interesting oscilloscope for motor driver dev work: https://hackaday.com/2021/11/18/isolated-oscilloscope-design-process-shows-how-its-done/

John Dammeyer

@jcdammeyer

@andypugh As the comments say. It's just a commercial product designed for a specific need but maybe overkill for 99% of the applications?

wiesi-94

@wiesi-94

Hello,
I have a problem with the configuration of a DC motor. When i use the haas.txt configuration the motor jumps on the table.

I have played with all parameters but i couldn't found a working configuration.

This is my setup:
Input: 320V rectified mains
Motor connected to U & W
The motor was originally operated with a maximum of 190V and 16A. And has an armature resistance of 0.8Ω.
I mounted the optical encoder directly on the motor shaft.

Which parameters do I have to adjust so that the motor runs smoothly?

Nico Stute

@crinq

which parameters did you change?

wiesi-94

@wiesi-94

I have increased and decreased the following parameters: conf0.r, conf0.l, conf0.j, conf0.psi, conf0.cur_p.
The max_ac_cur is set to 10.
But i always ended up with the parameters form the haas.txt file. They work best but still very bad.

After a few seconds I get a Fault 6: saturation error

Nico Stute

@crinq

playing with parameters will not work, you need to measure them or find a datasheet
if you can compile and flash new firmware you can try the autotuning in the sys_id branch (needs new HV and LV firmware) https://github.com/rene-dev/stmbl/blob/sys_id/docs/src/tuning.adoc#auto-tuning

sys_id is experimental and might not work

John Dammeyer

@jcdammeyer

This is what I used with my DC Servos but it never really worked very well.
'''# KL-34-180-90 DC Servo Motor - Haas Clone
link pid
link dc
link enc_fb0
link enc_cmd
link misc
conf0.r = 0.925
conf0.l = 0.0025
conf0.j = 0.00034
conf0.psi = 0.3
conf0.max_force = 8
conf0.max_ac_cur = 20
conf0.mot_fb_res = 1000
conf0.cmd_res = 2000
conf0.high_dc_volt = 120
conf0.max_dc_volt = 150
conf0.max_vel = 344
conf0.cur_p = 0.7
linrev0.scale = 6
enc_cmd0.mode = 1'''
'''# Now enable drive if external signal there
fault0.en=io0.C78'''

Nico Stute

@crinq

haas.txt is a very old config for our vf0
it's not suitable for a motor without a machine

John Dammeyer

@jcdammeyer

What does that mean, "motor without a machine"?

wiesi-94

@wiesi-94

Are there compiled *.bin files available for the sys_id branch?

Nico Stute

@crinq

8 replies

highbiker

@highbiker

Hi,
I have a question about the Jumper 2. I have Motor with resolver feedback and the resolver provides a temperature sensor (temperature sensitive resistance). As I guess from the STMBL schematics I have to unconnect the Jumper 2. Otherwise the AIN would always read the value for 5V. Is that correct?

Nico Stute

@crinq

yes, but currently there is no software support for calculating the temperature from the adc reading
you only get the voltage on pin 7

1 reply

Marian Omnibus

@rabrabar

@crinq I have a Stegmann SRS50-HFA0-K01 hiperface encoder. As I have seen previously, for now only sin+cos is used and it will work as an incremental encoder. Does this mean no index pulse, no fixed commutation signals and motor moving randomly on the startup? What about twisted pairs, should sin&refsin go to sin+&sin- input, same with cos and refcos. Should I connect data pair to ref+- (blue pair), or leave it unconnected and use it insted for PTC? I need brown pair to supply +12v, so I will switch the jumper. It looks like the ADC is only on the brown pair, so I will have to connect PTC to the screw terminal, or can I use the RJ45 somehow?

Marian Omnibus

@rabrabar

I'm having trouble in locating graphical schematic for 4.1...

Nico Stute

@crinq

sin/sinref -> sin+/sin-, ...
sin, cos normally works with 5V, you only need 12V for the hiperface stuff
i think you can connect the data pair and implement the protocol later
you don't need the ptc, the i^2t observer is good enough for normal operation
but you can connect it to the analog inputs (needs pullup/down + software to convert to temperature)

Marian Omnibus

@rabrabar

Ok, that simplifies the cabling a bit. I checked and its a real thermistor, but I will leave it unconnected for now as there are no free pairs left.

Marian Omnibus

@rabrabar

The sin&cos look like 1vpp signal, and looks right with 5v supply. I see it converted to square on two 65176 (pin 1). With default config, res_fb0 it shows something in servoterm on the graph along with position error, i changed to 1vpp_fb0 and i see no reaction when turning. Where to get more info?

Marian Omnibus

@rabrabar

no comp with this name..

Nico Stute

@crinq

link enc_fb0
fb_switch0.mot_pos = enc_fb0.ipos

Marian Omnibus

@rabrabar

wow!

the red graph should wrap around after one revolution?

Nico Stute

@crinq

yes

arsenixprime

@arsenixprime

Are there any lower voltage variants of stmbl that are still active/supported? I have seen OtterControl, and mention of a 160V version in the history here. I'm doing a conversion which is only 90v. The full stmbl seems like overkill for this use (especially considering availability of various parts is limited).

John Dammeyer

@jcdammeyer

It's not really overkill. The STMBL is a really nice open source servo drive. Even if your motor is only 90V the higher voltage rating won't make any difference. Now if you had a 48V motor then there are other options perhaps but go above about 80V and the STBML is one of the more interesting choices.

arsenixprime

@arsenixprime

this matches my observations! thank you! just have to build or find one then

boerderpatrol

@boerderpatrol

Is the second feedback connector for outputting the servos position from the servo direct to whatever controller one is using ? Providing real time feedback?

Nico Stute

@crinq

it's for dual feedback systems
e.g. hall + encoder or encoder + glass scale or encoder + torque sensor
if you write software you can use it to send information to the controller

hello110300509

@hello110300509

what kind of algorithm is used for the pos_filter in stmbl

hello110300509

@hello110300509

float pos_error = minus(PIN(pos_in), PIN(pos_out));
float vel_error = PIN(vel_in) - PIN(vel_out);

if(PIN(en) > 0.0){
PIN(acc_out) = kp pos_error + ki vel_error;
PIN(vel_out) += period PIN(acc_out);
PIN(pos_out) = mod(PIN(pos_out) + period PIN(vel_out));
}
else{

Nico Stute

@crinq

look at the velocity observer published by onno krah

hello110300509

@hello110300509

thanks

J. Holtz, M. Höltgen and J. O. Krah, "A Space Vector Modulator for the High-Switching Frequency Control of Three-Level SiC Inverters," in IEEE Transactions on Power Electronics, vol. 29, no. 5, pp. 2618-2626, May 2014.
doi: 10.1109/TPEL.2013.2280768
keywords: {Vectors;Switches;Switching frequency;Inverters;Pulse width modulation;Electric potential;Field-programmable gate array (FPGA);high-switching frequency;low-voltage three-level inverters;silicon carbide;three-level space vector modulation},
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6589196&isnumber=6709815

J. -. Krah and J. Holtz, "High-performance current regulation and efficient PWM implementation for low-inductance servo motors," in IEEE Transactions on Industry Applications, vol. 35, no. 5, pp. 1039-1049, Sept.-Oct. 1999.
doi: 10.1109/28.793364
keywords: {Pulse width modulation;Current control;Switching frequency;Microcontrollers;Space vector pulse width modulation;Regulators;Control system synthesis;Thermal degradation;Modulation coding;Decision making},
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=793364&isnumber=17214

J. -. Krah and J. Holtz, "Total compensation of line-side switching harmonics in converter-fed AC locomotives," in IEEE Transactions on Industry Applications, vol. 31, no. 6, pp. 1264-1273, Nov.-Dec. 1995.
doi: 10.1109/28.475696
keywords: {Power harmonic filters;Active filters;Pulse width modulation;Pulse width modulation converters;Power system harmonics;Electromagnetic interference;Counting circuits;Low pass filters;Inductance;Switching frequency},
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=475696&isnumber=10141

J. Holtz and J. O. Krah, "Suppression of time-varying resonances in the power supply line of AC locomotives by inverter control," in IEEE Transactions on Industrial Electronics, vol. 39, no. 3, pp. 223-229, June 1992.
doi: 10.1109/41.141624
keywords: {Resonance;Power supplies;Substations;Vehicles;Frequency;Signal generators;Electromagnetic interference;Railway communication;Communication system signaling;Programmable control},
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=141624&isnumber=3804

J. Holtz and J. O. Krah, "Adaptive optimal pulse-width modulation for the line-side converter of electric locomotives," in IEEE Transactions on Power Electronics, vol. 7, no. 1, pp. 205-211, Jan. 1992.
doi: 10.1109/63.124592
keywords: {Pulse width modulation converters;Pulse modulation;Rail transportation;Pulse width modulation;Surfaces;Vehicles;Synchronous generators;Resonance;Resonant frequency;Voltage},
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=124592&isnumber=3516

which one

Nico Stute

@crinq

e.g. https://www.researchgate.net/publication/330798859_Geschwindigkeitsbeobachter_hoherer_Ordnung_zur_Unterdruckung_von_hoherfrequenten_Resonanzen_bei_Direktantrieben_Higher_Order_Velocity_Observer_to_Suppress_Mechanical_Resonances_in_Direct_Drive_Applica

hello110300509

@hello110300509

Thank you

Where communities thrive

People

Repo info

Activity