PWM-Signal for H-bridge bldc motor

maikthebike
Posts: 1
Joined: Fri Apr 19, 2024 11:41 am

PWM-Signal for H-bridge bldc motor

Postby maikthebike » Fri Apr 19, 2024 11:58 am

Hi,


i would like to write a progam for NodeMCU 32 that drives my motor via sinus- pwm-signal.


The code I have written so far looks like this.
The code outputs pwm-signals, but sometimes the ouput is not very nice.

In the oscilloscope(pico) I can see that the PWM-voltage sometimes is lower than 3,3V and sometimes higher, but I don't know why.
Maybe you can give me some help and also tell me what I could improve on my code.

Code: Select all

const int pwmPin_U = 4; 
const int pwmPin_U_inv = 14;
const int pwmPin_V = 2; 
const int pwmPin_V_inv = 12; 
const int pwmPin_W = 15; 
const int pwmPin_W_inv = 13;


int pwmIndex = 0;
unsigned long ts;

const uint8_t sinTable_U[] = {

128, 131, 134, 137, 140, 143, 146, 149, 152, 156, 159, 162, 165, 168, 171, 174, 176, 179, 182, 185, 188, 191, 193, 196, 199, 201, 204, 206, 209, 211, 213, 216, 218, 220, 222, 224, 226, 228, 230, 232, 234, 235, 237, 239, 240, 242, 243, 244, 246, 247, 248, 249, 250, 251, 251, 252, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 254, 254, 253, 253, 252, 252, 251, 250, 249, 248, 247, 246, 245, 244, 242, 241, 239, 238, 236, 235, 233, 231, 229, 227, 225, 223, 221, 219, 217, 215, 212, 210, 207, 205, 202, 200, 197, 195, 192, 189, 186, 184, 181, 178, 175, 172, 169, 166, 163, 160, 157, 154, 151, 148, 145, 142, 138, 135, 132, 129, 126, 123,
120, 117, 113, 110, 107, 104, 101, 98, 95, 92, 89, 86, 83, 80, 77, 74, 71, 69, 66, 63, 60, 58, 55, 53, 50, 48, 45, 43, 40, 38, 36, 34, 32, 30, 28, 26, 24, 22, 20, 19, 17, 16, 14, 13, 11, 10, 9, 8, 7, 6, 5, 4, 3, 3, 2, 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 2, 2, 3, 4, 4, 5, 6, 7, 8, 9, 11, 12, 13, 15, 16, 18, 20, 21, 23, 25, 27, 29, 31, 33, 35, 37, 39, 42, 44, 46, 49, 51, 54, 56, 59, 62, 64, 67, 70, 73, 76, 79, 81, 84, 87, 90, 93, 96, 99, 103, 106, 109, 112, 115, 118, 121, 124};

const uint8_t sinTable_V[] = {
   207,   210,   212,   214,   217,   219,   221, 223,   225,   227,   229,   231,   233,   235, 237,   238,   240,   241,   243,   244,   245, 247,   248,   249,   250,   251,   252,   252, 253,   254,   254,   255,   255,   255,   255, 255,   255,   255,   255,   255,   255,   255, 255,   254,   254,   253,   253,   252,   251, 250,   249,   248,   247,   246,   245,   243, 242,   240,   239,   237,   235,   234,   232, 230,   228,   226,   224,   222,   220,   218, 215,   213,   211,   208,   206,   203,   201, 198,   195,   193,   190,   187,   184,   181, 178,   176,   173,   170,   167,   164,   161, 158,   154,   151,   148,   145,   142,   139, 136,   133,   129,   126,   123,   120,   117, 114,   111,   107,   104,   101,    98,    95,  92,    89,    86,    83,    80,    77,    74,  71,    69,    66,    63,    60,    58,    55,  53,    50,    48,    45,    43,    40,    38,  36,    34,    32,    30,    28,    26,    24,
    22,    20,    19,    17,    16,    14,    13,  11,    10,     9,     8,     7,     6,     5,  4,     3,     3,     2,     1,     1,     1,   0,     0,     0,     0,     0,     0,     0,   1,     1,     1,     2,     2,     3,     4,   5,     5,     6,     7,     8,    10,    11,  12,    13,    15,    16,    18,    20,    21,  23,    25,    27,    29,    31,    33,    35,  37,    40,    42,    44,    47,    49,    52,  54,    57,    59,    62,    65,    68,    70,  73,    76,    79,    82,    85,    88,    91,  94,    97,   100,   103,   106,   109,   112, 116,   119,   122,   125,   128,   131,   134, 138,   141,   144,   147,   150,   153,   156, 159,   162,   165,   168,   171,   174,   177, 180,   183,   186,   189,   191,   194,   197, 200,   202,   205 };

const uint8_t sinTable_W[] = {
   252,   253,   254,   254,   255,   255,   255, 255,   255,   255,   255,   255,   255,   255, 255,   255,   254,   254,   253,   253,   252, 251,   250,   249,   248,   247,   246,   244, 243,   242,   240,   239,   237,   235,   234, 232,   230,   228,   226,   224,   222,   220, 217,   215,   213,   210,   208,   205,   203, 200,   198,   195,   192,   190,   187,   184, 181,   178,   175,   172,   169,   166,   163, 160,   157,   154,   151,   148,   145,   142, 139,   136,   132,   129,   126,   123,   120, 117,   113,   110,   107,   104,   101,    98,  95,    92,    89,    86,    83,    80,    77,  74,    71,    69,    66,    63,    60,    58,  55,    52,    50,    47,    45,    43,    40,  38,    36,    34,    32,    30,    28,    26,  24,    22,    20,    19,    17,    15,    14,  13,    11,    10,     9,     8,     7,     6,   5,     4,     3,     3,     2,     1,     1,   1,     0,     0,     0,     0,     0,     0,   0,     1,     1,     1,     2,     2,     3,   4,     5,     5,     6,     7,     8,    10,  11,    12,    14,    15,    17,    18,    20,  21,    23,    25,    27,    29,    31,    33,  35,    37,    40,    42,    44,    47,    49,  52,    54,    57,    60,    62,    65,    68,  71,    73,    76,    79,    82,    85,    88,  91,    94,    97,   100,   103,   106,   109, 113,   116,   119,   122,   125,   128,   132, 135,   138,   141,   144,   147,   150,   153, 156,   160,   163,   166,   169,   172,   175, 177,   180,   183,   186,   189,   192,   194, 197,   200,   202,   205,   207,   210,   212, 214,   217,   219,   221,   223,   225,   227, 229,   231,   233,   235,   237,   238,   240, 241,   243,   244,   245,   247,   248,   249, 250,   251,   252 };

void pwmInterrupt();
void checkAnalog();

hw_timer_t *timer = NULL;
hw_timer_t *timer_analog = NULL;

bool t_flag = false;
bool analog_flag = false;

int sensorwert;

void setupPWM(){

int freq = 20000;

  ledcSetup(0, freq, 8); 
  ledcSetup(1, freq, 8); 
  ledcSetup(2, freq, 8); 

  ledcAttachPin(pwmPin_U, 0);
  ledcAttachPin(pwmPin_U_inv, 0);
  GPIO.func_out_sel_cfg[pwmPin_U_inv].inv_sel = 1; 

  ledcAttachPin(pwmPin_V, 1);
  ledcAttachPin(pwmPin_V_inv, 1);
  GPIO.func_out_sel_cfg[pwmPin_V_inv].inv_sel = 1; 

  ledcAttachPin(pwmPin_W, 2);
  ledcAttachPin(pwmPin_W_inv, 2);
  GPIO.func_out_sel_cfg[pwmPin_W_inv].inv_sel = 1; 
}



void setupTimers(){

  timer = timerBegin(2, 80, true);
  timerAttachInterrupt(timer, &pwmInterrupt, true); 
  timerAlarmWrite(timer, 10000, true); 
  timerAlarmEnable(timer); 


  timer_analog = timerBegin(3, 80, true); 
  timerAttachInterrupt(timer_analog, &checkAnalog, true); 
  timerAlarmWrite(timer_analog, 100000, true); 
  timerAlarmEnable(timer_analog); 
  }


void setup() {

  Serial.begin(115200);

 setupTimers();
 setupPWM(); 
 
  ts = micros(); 

}



void loop() {

 
  if(t_flag)  

  {
    Serial.println(micros() - ts); //Zeit pro Periodendauer ausgeben
    ts = micros(); 
    t_flag = false;
  }

  if(analog_flag) 
  {
    sensorwert = analogRead(27);
 
    if(sensorwert < 30) 
      sensorwert = 30;

    timerAlarmWrite(timer, sensorwert, true); 
    analog_flag = false;
  }
}



void IRAM_ATTR pwmInterrupt() {

  if(pwmIndex == 0) 
    t_flag = true;  

  ledcWrite(0, sinTable_U[pwmIndex]);
  ledcWrite(1, sinTable_V[pwmIndex]);
  ledcWrite(2, sinTable_W[pwmIndex]);

  pwmIndex = (pwmIndex + 1) % 255; 
}

void IRAM_ATTR checkAnalog()
{
  analog_flag = true;
}
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ESP_Sprite
Posts: 9708
Joined: Thu Nov 26, 2015 4:08 am

Re: PWM-Signal for H-bridge bldc motor

Postby ESP_Sprite » Sat Apr 20, 2024 12:59 am

99% sure a measurement error. Make sure you have a good ground connection, and make your measurement loop as small as possible (=no long wire between ground and the probe, or the signal and the probe)

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