lurenaud/DJI-Gimbal-FOC
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Lucien Renaud 2022-05-25 19:07:22 +02:00
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README.md
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@ -6,7 +6,7 @@ The aim of this project is to be able to use the 3-axis DJI gimbal with a custom
<img src="docs/working.gif" height=250>
## Pinout identification
The Gimbal is composed of a flex PCB with a main connector and 3 smaller for each motor. The main end connector is a 40-pin mezzanine board to board connectors. In order to work easily I have designed a breakout board which open to a 2.54" header.
The Gimbal is composed of a flex PCB with a main connector and 3 smaller for each motor. The main end connector is a 40-pin mezzanine board to board connectors. In order to work easily I have designed a breakout board which open to a 2.54" header. (Kicad folder)
Here is the strategy I followed to find the pinout:
1. Find all equipotential pins with a multimeter set to continuity tests, and test all the combinations
@ -33,7 +33,7 @@ Each motor is composed of two ratiometric linear hall sensors. (Texas Instrument
<img src="docs/Hallmotor.jpg" height=300>
Ratiometric means that the output signal is proportional to the voltage supply to the sensor. In this setup, with 5V supply, the output measured is between 520mV and 1.5V, so a 1V amplitude.
Ratiometric means that the output signal is proportional to the voltage supply to the sensor. In this setup, with 5V supply, the output measured is between 520mV and 1.5V, so a 1V amplitude signal.
### 2. Measures
@ -101,6 +101,5 @@ To achive position control it is necessary to have first, a velocity controller
![Closed loop position diagram from SimpleFOC](docs/angle_loop_v.png)
However, the motors of the gimbal have hard stop and can only rotate of around a half turn. It was so necessary to remove these mecanical stops. I drilled with a 1.6mm drill the two little holes to remove it. Then the motor was able to rotate freely and PID can be tuned.
<img src="docs/drilling.jpg" height=250> <img src="docs/freeturn.gif" height=250>