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Developement

There are no hall sensors on the motor and the original motor controller only has 1 DC shunt current sensor, so it does not measure the motor phase currents.

The motor controller has a magnetic sensor on the board, to detect the angle position of the motor rotor shaft (that has a magnet glued). This should provide a high resolution motor rotor position, which should provide a good torque at motor startup as also a easy implementation of motor FOC, with an efficient and silent motor.

We know and have all the datasheets of the components of the board - see the hardware folder.

Ideas

How to implement simple motor control​

  1. calculate the phase current as: phase current = battery current * duty_cycle (this is done on TSDZ2 OpenSource firmware)
  2. use motor speed and motor inductance to calculate the angle between the motor voltage and motor current, to keep the i_d current always at 0, this way get principle of FOC running (this is done on TSDZ2 OpenSource firmware)
  3. control the phase current wuing a PID controller
  4. control the phase angle using a PID controller
  5. implement SVPM and finally apply the PWM values

(Optionally) How to sample phase currents using the DC shunt current sensor​

How to sample phase currents:

  • If Ia+Ib+Ic=0, Set the ADC trigger when U high V low W low, You get Iu
  • Trigger at U high V high W low, You get -Iw
  • There are 6 combinations like this i think so you can get all phase readings
  • But it gives poor results at low speed

Firmware Information​

Hex Values​

The following firmware hex values seem to be related to the following configuration options:

hex address = value == effect/target-effect

Fully Charged voltage 0768 = 29 == 41( 36v firmwares) 0768 = 30 == 48 ( 43v firmwares) 0768 = 35 == 53 ( 48v firmwares)

Low voltage level:

076c = 2A == 42v 076c = 20 == 32v 076c = 27 == 39v

Normal/Nominal Voltage setting:

0770 = 24 == 36v 0770 = 2B == 43V 0770 = 30 == 48v

Max current setting:

0774 = 0a == 10A 0774 = 0d == 13A 0774 = 0f == 15A 0774 = 12 == 18A 0774 = 14 == 20A

Max current setting 2: somewhere around 11b80, this whole section differs between firmwares with different voltage setting

24 24 == 36v 2B 2B == 43V 30 30 == 48v