In 2016, Benjamin Katz published the groundbreaking paper A Low-Cost Modular Actuator for Dynamic Robots, which highlighted the advantages of closed-loop BLDC actuators. Alongside the paper, Katz released source code, Eagle files, and comprehensive documentation, enabling the fabrication of these actuators. This open-source initiative inspired the production of cloned actuators by several manufacturers, particularly in China, at a significantly reduced cost of $300+ a notable improvement compared to the industry-standard $800+ per actuator. These cost reductions have made such actuators increasingly accessible to hobbyists.
The objective of this project is to further democratize access to advanced actuator technology by developing a low-cost, closed-loop BLDC controller designed specifically for affordable quadcopter BLDC motors.
Current LandscapeHobbyists seeking BLDC motor controller PCBs face limited and costly options. The most popular choices include:
- ODrive Micro Controller: Offers a robust STM32G431 controller and high-power output capabilities but comes with a steep price of $89 per controller.
- STMicroelectronics Motor Controller/Driver Power Management Evaluation Board: While more affordable, it lacks a motor encoder, relying instead on the FOC chip to estimate speed and position—leading to reduced precision in certain applications.
This project aims to design a cost-effective BLDC controller PCB with the following features:
- Motor Encoder Support: Enables precise position and speed feedback for closed-loop control.
- General BLDC Driver: Supports up to 24V and 30A, providing compatibility with a wide range of hobbyist motors.
- CAN Communication: Functions as a slave on the CAN network, facilitating seamless integration into larger systems.
- Daisy-Chained Power and CAN Channels: Simplifies system expansion by enabling multiple controllers to share power and communication lines.
- Advanced Control Modes: Includes position, speed, and force control, offering versatility for various applications.
By providing these features at a fraction of the cost of existing solutions, this project seeks to bridge the gap between high-performance industrial controllers and affordable hobbyist systems, enabling a new wave of innovation in robotics and automation.
PCB Way
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