FOC Control Test Bench

Field Oriented Control (FOC) is a technique used in variable frequency drives and motor control systems, particularly for AC motors like permanent magnet synchronous motors (PMSMs) and brushless DC motors (BLDCs). The main goal of FOC is to control the motor's magnetic field in a way that maximizes efficiency and allows for precise control of torque and speed. It does this by transforming the three-phase motor currents into a two-axis coordinate system (often called the d-q axis). This transformation allows the control of the motor to be similar to that of a DC motor, where the torque and magnetic flux can be independently regulated, leading to smoother and more efficient operation. I developed a test bench in order to learn more about this technique in motor control. It features an Eagle Power 3018 Brushless motor, this was selected as it is known for having a higher level of torque and speed and could be potentially used for future robotics applications. For the control system, I utilized the Odrive S1 motor controller. This is an all in one system that includes a built in magnetic encoder that gives precise readings of motors angle. Additionally, it includes an on board microcontroller that can connect to a computer, Odrive provides an open source software for motor control. This software allows for a multitude of configurations such as the motor, encoder, and type of movement desired wether that is strictly position based or a set velocity. I also integrated an STM32 development board for future use cases, for instance automating the motor control.