.. _bldc_foc_control:

BLDC FOC Control
================================

Overview
--------

The **bldc_foc**  project contains the speed control and position control of DC brushless motors.
- Use the **FOC**  control algorithm

Configurations
--------------

- This program uses the **BLM57050-1000**  brushless motor of "Leisai Intelligence", please refer to the `Leisai Intelligence <https://leisai.com/>`_ website for the specific parameters of the motor.

- Board settings refer to the development board documentation  :ref:`Motor Pin <board_resource>`  related content

Current Loop Time
-----------------

Hardware current loop will show time zero. The current loop calculation time is around 1us, this time fluctuates depending on the angle and fluctuates in the range of 25%, which is reproduced by performing the following operation:

- Turning off the `mcl_app_config.h` macros except for `MCL_EN_LOOP_TIME_COUNT`

- Compile option `flash_xip_release`

Running the demo
----------------

The motor runs at a speed of 20r/s.
The following data can be configured by serial console:

`speed` float, range +40~-40, unit r/s

`pos` int, (-4000, +4000) corresponds to (-360, +360) degrees

`mode` bool, 1- Speed mode 0- Position mode

- Speed mode

	Enter the correct speed parameters with serial console.

- Position mode

	Set the position of the motor's shaft, then the motor's shaft will be locked at the specified position


.. code-block:: console

   loop current tick: 399
   Mode selection:
   0. Location mode.
   1. Speed mode.
   Enter mode code:
   1
   Speed mode, motor run, speed is: 20.000000.
   Input speed:
   10.5

   loop current tick: 535
   Speed mode, motor run, speed is: 10.500000.
   Input speed:



.. warning::

   - After the motor is powered on, it will first perform the "alignment" action. If the motor is disturbed at this time, it will produce a jitter.

   - Pay attention to the current size, when abnormalities occur, please cut off the power at any time

   - When entering values for speed and position, a line break is required as an end-of-entry flag