motor-control

name motor-control description Motor control algorithms and driver implementation category Application-Specific allowed-tools ["Bash","Read","Write","Edit","Glob","Grep"] graph {"domains":["domain:embedded-systems"],"specializations":["specialization:embedded-systems"],"skillAreas":["skill-area:rtos-programming","skill-area:firmware-development"],"roles":["role:embedded-engineer"]} Motor Control Skill Overview This skill provides motor control algorithm implementation and driver development expertise for embedded systems controlling DC, BLDC, stepper, and AC induction motors. Capabilities PWM Generation Center-aligned PWM configuration Dead-time insertion Complementary output setup PWM frequency selection Duty cycle modulation SVPWM (Space Vector PWM) Control Algorithms FOC (Field-Oriented Control) Scalar V/f control Six-step commutation Sinusoidal commutation DTC (Direct Torque Control) Model predictive control Position/Speed Feedback Encoder interface (quadrature) Hall sensor configuration Resolver interface Sensorless algorithms Back-EMF zero-crossing Observer-based estimation Current Sensing Shunt resistor configuration Current amplifier setup ADC synchronization with PWM Oversampling strategies DC offset compensation Phase reconstruction Control Loops Current loop (torque control) Speed loop (velocity control) Position loop (servo control) Anti-windup strategies Feed-forward compensation Gain tuning methods Motor Identification Parameter measurement Auto-tuning procedures Resistance/inductance measurement Back-EMF constant Inertia estimation Protection Features Overcurrent protection Overvoltage protection Overtemperature monitoring Stall detection Safe torque off (STO) Target Processes device-driver-development.js - Motor driver implementation real-time-architecture-design.js - Real-time control design isr-design.js - Control loop ISR design Dependencies Motor control libraries (ST MC SDK, TI MotorWare) DSP libraries for fixed-point math Encoder/Hall sensor hardware Usage Context This skill is invoked when tasks require: Motor driver development FOC algorithm implementation Position/speed control Motor parameter tuning Protection circuit design Motor Types Supported Type Control Method Feedback Brushed DC PWM duty cycle Encoder optional BLDC Six-step, FOC Hall, encoder, sensorless PMSM FOC Encoder, resolver, sensorless Stepper Step/direction, microstepping Open-loop, encoder AC Induction V/f, FOC Encoder, sensorless FOC Implementation Example typedef struct { float i_alpha, i_beta; // Clarke transform output float i_d, i_q; // Park transform output float v_d, v_q; // Voltage commands float v_alpha, v_beta; // Inverse Park output float theta; // Rotor angle float speed; // Rotor speed } foc_state_t ; void foc_current_loop ( foc_state_t * state, float i_a, float i_b, float i_c) { // Clarke transform clarke_transform(i_a, i_b, i_c, &state->i_alpha, &state->i_beta); // Park transform park_transform(state->i_alpha, state->i_beta, state->theta, &state->i_d, &state->i_q); // PI controllers state->v_d = pi_controller(&pid_d, state->i_d_ref - state->i_d); state->v_q = pi_controller(&pid_q, state->i_q_ref - state->i_q); // Inverse Park inv_park_transform(state->v_d, state->v_q, state->theta, &state->v_alpha, &state->v_beta); // SVPWM svpwm_generate(state->v_alpha, state->v_beta, pwm_duties); } Configuration motor_control: motor_type: bldc | pmsm | stepper | induction control_method: foc | six_step | vf | step_dir pwm_frequency: 20000 # Hz current_loop_rate: 20000 # Hz speed_loop_rate: 1000 # Hz feedback: encoder | hall | sensorless