2 layers
Bbesc kiCad 1stAttempt
jakeread/tesc
in-progress motor controller, towards accessible closed-loop control
59 parts16
2 layers81.4 × 63.5 mm
Bbesc kiCad
jakeread/tesc16in-progress motor controller, towards accessible closed-loop control
- Size
- 81.4 × 63.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 82
- Nets
- 82
- Pads
- 437
- Tracks, vias
- 639, 59
- Pours
- 8
- Routed
- Yes
- KiCad
- KiCad 4
- Created
- 12 Jun 2017
- Updated
- 28 Aug 2017
Overview
Bbesc kiCad is an open-source printed circuit board by jakeread, from the jakeread/tesc repository on GitHub. It is a 2-layer board of 81.4 × 63.5 mm with 82 parts on 82 nets, routed with 639 tracks and 59 vias.
It is built around the DRV8302 and JUMPER3. Its parts include 31 capacitors, 28 resistors, 6 transistors, 6 connectors and 2 ICs. It belongs with the robots and motor control boards and the NXP (LPC, Kinetis, i.MX RT) boards of this library.
Main components
2README
README.mdFOCT v0.3
Field Oriented Control on a Teensy 3.2
Briefly
FOCT does closed-loop control of brushless dc (BLDC) motors: the type normally found in RC Cars, Airplanes, Drones etc. These motors are incredibly power-dense, making them an excellent candidate for Robotics applications. However, it's very difficult to control them at low speeds and in small position intervals.
FOCT implements 'all the bells and whistles' found in high-end robotics motor controllers (encoder feedback, BEMF & current sensing, etc) in a relatively low-cost solution. Code is written in Arduino for the Teensy Microcontroller, and is meant to be easily extensible and pick-through-able.
FOCT is in development! So is it's documentation!
The Hardware
FOCT uses a Teensy 3.2 to control Three H-Bridges, which each drive one phase of a three-phase brushless motor. The H-Bridge gates are driven with a DRV8302, a wunderkid IC that is also home to a 5V Buck Converter (for your peripheral needs) and two differential Op-Amps, used to measure phase current. The board also has simple voltage-dividers connected to Teensy ADCs for measuring phase voltage, and includes an SPI out connector used to interface with an AS5047 encoder for absolute position sensing. For now, input is done over Teensy's blazing-fast serial port.
Up to ~24v supply
Up to 30A without a heatsink, 42 with good cooling, peaks of 60
Planned PWM in, SPI slave modes for control. Serial over USB Config / testing.
The Software
FOCT runs on Arduino! It uses Teensy's built interval timers to handle fast-loop-insurance, and only occasionally reaches into the chip's registers to make PWM work properly. Code will be well commented, I hope / promise...
How it Works: Closed-Loop BLDC Control
// 6-step commutation w/ position reference
How it Works: Field-Oriented Control
// FOC ! Transforms, current measurement, UVW || AB || IQ frames
TBD's, software
- Proper filtering on Current measurement, encoder measurement
- Tuning the FOC loop
- Encoder Offset Discovery routine
- Auto Tuning, interface, system integration, oh my
TBD's, hardware
- ADC voltage divider to sense VBUS voltage
- More DAC outputs / testing pins so to tune FOC
- SMD Thermistor near the FETS ?
- Go to STM32F4 & chibios ?
- Caps could be closer to FETS, heatsink strap
Parts
82| Qty | Value | Footprint | References |
|---|---|---|---|
| 11 | 10uF | Capacitors_SMD:C_1206_HandSoldering | C2, C3, C13, C14, C16, C26, C27, C28, C29, C30, C31 |
| 6 | 4R7 | Resistors_SMD:R_1206_HandSoldering | R15, R16, R21, R22, R27, R28 |
| 6 | Q_NMOS_GDS | HTO-252:TO-252-2 | Q1, Q2, Q3, Q4, Q5, Q6 |
| 5 | 2.2uF | Capacitors_SMD:C_1206_HandSoldering | C4, C5, C7, C8, C10 |
| 4 | 100R | Resistors_SMD:R_1206_HandSoldering | R11, R12, R13, R14 |
| 4 | MountingHole_3.2mm_M3_DIN965_Pad | Mounting_Holes:MountingHole_3.2mm_M3_DIN965_Pad | M3, M3 -> 81.28mm, M3 56.515mm Square, M3 offset inside by 3.429mm |
| 3 | 220nF | Capacitors_SMD:C_1206_HandSoldering | C18, C19, C20 |
| 3 | 39K | Resistors_SMD:R_1206_HandSoldering | R19, R25, R30 |
| 3 | 3k3 | Resistors_SMD:R_1206_HandSoldering | R4, R6, R7 |
| 3 | 5K6 | Resistors_SMD:R_1206_HandSoldering | R20, R26, R31 |
| 3 | CONN_01X01 | Mounting_Holes:MountingHole_2.7mm_Pad_Via | P5, P6, P7 |
| 2 | 100uF | Capacitors_SMD:CP_Elec_6.3x7.7 | C24, C32 |
| 2 | 10k | Resistors_SMD:R_1206_HandSoldering | R5, R17 |
| 2 | 2.2nF | Capacitors_SMD:C_1206_HandSoldering | C21, C22 |
| 2 | 2000uF | Capacitors_ThroughHole:CP_Radial_D13.0mm_P5.00mm | C23, C25 |
| 2 | SHNT | R_SHUNT_3920:R_SHUNT_3920 | R18, R24 |
| 1 | 100nF | Capacitors_SMD:C_1206_HandSoldering | C17 |
| 1 | 120pF | Capacitors_SMD:C_1206_HandSoldering | C6 |
| 1 | 15k | Resistors_SMD:R_1206_HandSoldering | R8 |
| 1 | 15uF | Capacitors_SMD:C_1206_HandSoldering | C15 |
| 1 | 18k | Resistors_SMD:R_1206_HandSoldering | R3 |
| 1 | 1M | Resistors_SMD:R_1206_HandSoldering | R10 |
| 1 | 1uF | Capacitors_SMD:C_1206_HandSoldering | C12 |
| 1 | 220k | Resistors_SMD:R_1206_HandSoldering | R9 |
| 1 | 22nF | Capacitors_SMD:C_1206_HandSoldering | C11 |
| 1 | 22uH | Inductors:Inductor_Taiyo-Yuden_NR-40xx_HandSoldering | L1 |
| 1 | 47R | Resistors_SMD:R_1206_HandSoldering | R2 |
| 1 | 6.8nF | Capacitors_SMD:C_1206_HandSoldering | C9 |
| 1 | CONN_01X02 | Wire_Connections_Bridges:WireConnection_2.50mmDrill_LargePad | J3 |
| 1 | CONN_01X03 | Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm | P2 |
| 1 | CONN_01X06 | Pin_Headers:Pin_Header_Straight_1x06_Pitch2.54mm | J1 |
| 1 | DIODESCH | Diodes_SMD:D_SMA_Handsoldering | D1 |
| 1 | DRV_8302 | HTSSOP-56:TSSOP-56_6.1x14mm_Pitch0.5mm | U3 |
| 1 | JUMPER | Pin_Headers:Pin_Header_Straight_1x02_Pitch2.54mm | JP1 |
| 1 | JUMPER3 | Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm | JP3 |
| 1 | TVS 5v | Diodes_SMD:D_SMA_Handsoldering | D2 |
| 1 | teensy_3-2 | teensy_3-2_bottomLess:Teensy3.2-bottomLess | U2 |
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Questions
How big is the Bbesc kiCad PCB?
It measures 81.4 × 63.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Bbesc kiCad use?
82 parts, built around the DRV8302 and JUMPER3. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Bbesc kiCad KiCad files?
From the jakeread/tesc repository on GitHub, at the commit this page was made from: the board is Circuit/bbesc_kiCad.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the Bbesc kiCad design in my own project?
Its repository states no licence, so its author keeps all rights: ask jakeread before reusing the design.