Electeam-Sharky-ESP32

This is the firmware for the ESP32-WROOM-32 microcontroller where throttle, break, LCD screen, motor and more systems are integrated.

The PCB Kicad folder is located in (controller_bldc_kicad_Sch_PCB/)[https://github.com/david8128/Electeam-Sharky-ESP32/tree/main/controller_bldc_kicad_Sch_PCB]

Electrical Specifications for the PCB electronics

Power

Relay for the Operator Presence Control - aka. Death Man Security System (HAT901 12VDC 20A) = 0.96 W

MOSFET has been considered for de OPC but the consumtion is higher (Using IRF1010N with a ) For this project is used the MCPWM BLDC motor control (hall sensor feedback) example from ESP-IDF library.

As shown in Schematic there were used two LM2596 DC-DC HW-411 converters

Battery

When battery is fully charged the voltage is 40.6V. The BMS open the discharging circuit when the battery voltage is under 32V.

The energy or maximum energetic storage capacity of the battery is 320Wh.

This modes will be reviewed under the light of the Shell Echo Marathon Competition.

Modes

Acceleration Optimized

Soft Start

Manual

Here you have the documentation of the MCPWM-Hall_Sensor example:

MCPWM BLDC motor control(hall sensor feedback) Example

This example will show you how to use MCPWM module to control bldc motor with hall sensor feedback

The following examples uses MCPWM module to control bldc motor and vary its speed continuously

The bldc motor used for testing this code had hall sensor capture sequence of 6-->4-->5-->1-->3-->2-->6-->4--> and so on

IR2103 3-ph bridge driver is used for testing this example code

User needs to make changes according to the motor and gate driver ic used

Step 1: Pin assignment

• The gpio init function initializes:
  • GPIO19 is assigned as the MCPWM signal for 1H(UH)
  • GPIO18 is assigned as the MCPWM signal for 1L(UL)
  • GPIO17 is assigned as the MCPWM signal for 2H(VH)
  • GPIO16 is assigned as the MCPWM signal for 2L(VL)
  • GPIO15 is assigned as the MCPWM signal for 3H(WH)
  • GPIO14 is assigned as the MCPWM signal for 3L(WL)
  • GPIO23 is assigned as the MCPWM capture signal for Hall A
  • GPIO25 is assigned as the MCPWM capture signal for HALL B
  • GPIO26 is assigned as the MCPWM capture signal for HALL C

Step 2: Initialize MCPWM

• You need to set the frequency and duty cycle of MCPWM timer
• You need to set the MCPWM channel you want to use, and bind the channel with one of the timers
• You need to set the capture unit, for POS/NEG edge capture
• Also reversing the hall sensor BIT weight, will make bldc motor rotate CW or CCW