Closed loop motion control

BLDC motors Stepper motors

This is the standard motion control approach where the position sensor is used to provide feedback to the motion control loop. The motion control loop (motor.move()) will calculate the target torque (current or voltage) to be applied to the motor using the underlying torque/FOC control loop (motor.loopFOC()) in order to achieve the desired motion.

SimpleFOClibrary gives you the choice of using 3 different Closed-Loop control strategies:

• Torque control loop
• Velocity motion control
• Position/angle motion control

// set FOC loop to be used
// MotionControlType::torque
// MotionControlType::velocity
// MotionControlType::angle
// MotionControlType::angle_nocascade
motor.controller = MotionControlType::angle;

How it works?

BLDC motors Stepper motors

Choose the motion control type:

Position control (Cascaded) Position control (Non-Cascaded) Velocity control Torque control