stm32 dual motor FOC brushless drive board (can be applied to car rear-wheel drive)

(1) This project is mainly for the rear-wheel drive of electric racing cars. The biggest problem is that it does not have the torque and load capacity of the DC deceleration brushless motor, but the closed-loop speed control is more convenient.
(2) The PID parameters of the driver code need to be modified according to different motors for better results. The initial PID parameters are for reference only.
(3) Based on my other Minifoc project, this project adds a current sensor and a current loop to achieve more complete FOC control.
(4) as5600-37 bracket - Jialichuang EDA open source hardware platform (oshwhub.com) as5600 encoder circuit board needs to be installed at the bottom of the motor in conjunction with the radial magnet. Be sure to make the radial magnet and the motor rotate synchronously (the radial magnet can be fixed at the bottom of the motor shaft), and then align the radial magnet with the as5600 chip to drive it normally. Also, the mounting holes of the encoder circuit board need to be modified according to the size and spacing of the mounting holes at the bottom of the motor. Since the actual object is placed in the school, I cannot take pictures for reference. For the specific installation method, you can read this guy’s article SimpleFOC Brushless Motor Balancing Car
(5). Because I have not specifically learned the relevant knowledge of PCB layout and wiring, the PCB routing is Most of them use automatic routing. If you feel that the layout and routing are unreasonable, you can modify it by yourself. Thank you.
(6) For the hub, I modified the inner ring diameter based on the Solidworks hub model provided by FranHawk, which is suitable for motors with a diameter of 29mm. Since the sldptr file of the wheel hub is damaged, only the stl file can be provided here. You can model it yourself based on the wheel hub parts provided in the article SimpleFOC brushless motor balancing car
(7) The board provides a boot0 switch for serial port download program, download method After powering on Baidu
(8), you need to wait about ten seconds for the two motors to self-test. After the self-test is successful, you can use the serial port to send speed or angle commands. The speed closed-loop command format (9) You can watch the demonstration video of this b This video on the website is about automatic parking for the 2022 electric competition question B (angle sensor + openmv + brushless motor driving rear wheel differential steering)_bilibili_bilibili is the 22nd electric competition topic I did, and the rear wheel drive is used this project