Basic Motor Control Modes Motors can be driven in different control modes. The mode and it’s setting can be programmed with the graphical configuration tool. BLDC - Trapezoidal block commutation (sensored or sensorless) In the BLDC mode, the ESC drives only two motor phases at a time with current. The third motor phase is used for sensing the right commutation time. This mode is mainly used in most standard ESCs. User can select between sensored, sensorless or mixed mode operation. FOC - Field oriented Vector Control (sensored or sensorless) In the FOC mode, the ESC drives the motor phases with a sinusoidal current shape, calculated by load and motor characteristics. This has very low commutation noise and high torque at low speed. User can select between sensored, sensorless or mixed mode operation. Power control options Depending on the application, different power control options are selectable by configuration. PWM-Mode – Duty-Cycle control The motor setpoint received from master is translated to a PWM with variable duty-cycle proportional to the setpoint. The motor phase voltage is changed and the speed of the motor changes. The motor speed changes when the load or the battery supply voltage changes and the master control has to take care on sending new setpoints to compensate this behavior. This mode is used in most standard ESCs. Torque Mode- Current Control The motor setpoint received from the master is translated to a motor current setpoint and controlled in a fast direct regulation loop. This mode allows a high linearity between setpoint and motor torque and gives a fast and direct control over the motor power output. This mode is often used in ground vehicle drives where user wants to control the motor torque. RPM Mode – Speed Regulation The motor setpoint received from the master is translated to target speed setpoint and controlled in a PID regulation loop. This gives best control about the motor speed independent on the load. Depending on motor / load setup, the regulation is slower than in torque mode. User has to carefully trim PID regulation parameters to get a stable behavior. Quadrant Operation The ESC can drive in forward or backward direction the motor. User can program the acceleration deceleration / braking current separately and define also the recuperation current proportional relative to the setpoint. Unidirectional A Unidirectional (no reverse) without recuperation / active freewheel Unidirectional B Unidirectional (no reverse) with recuperation / active braking Bidirectional A Bidirectional (reverse mode possible) without recuperation / active freewheel Bidirectional B Bidirectional (reverse mode possible) with recuperation / active braking Zurück Weiter
