please i need your help

[LEEGE0]

The motor makes a mechanical sound at first and does not work.
I would appreciate any help in terms of hardware or software.
The Arduino code used is as follows

// software interrupt library
#include <PciManager.h>
#include <PciListenerImp.h>


// BLDC motor init
BLDCMotor motor = BLDCMotor(11);
// driver instance
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8);
//Motor encoder init
Encoder encoder = Encoder(A1, A2, 500);
// interrupt routine 
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}


// pendulum encoder init
Encoder pendulum = Encoder(2, 3, 1000);
// interrupt routine 
void doPA(){pendulum.handleA();}
void doPB(){pendulum.handleB();}
// PCI manager interrupt
PciListenerImp listenerPA(pendulum.pinA, doPA);
PciListenerImp listenerPB(pendulum.pinB, doPB);

void setup() {
  
  // initialise motor encoder hardware
  encoder.init();
  encoder.enableInterrupts(doA,doB);
  
  // init the pendulum encoder
  pendulum.init();
  PciManager.registerListener(&listenerPA);
  PciManager.registerListener(&listenerPB);
  
  // set control loop type to be used
  motor.controller = MotionControlType::torque;

  // link the motor to the encoder
  motor.linkSensor(&encoder);
  
  // driver
  driver.voltage_power_supply = 12; 
  driver.init();
  // link the driver and the motor
  motor.linkDriver(&driver);

  // initialize motor
  motor.init();
  // align encoder and start FOC
  motor.initFOC();
}

// loop downsampling counter
long loop_count = 0;

void loop() {
  // ~1ms 
  motor.loopFOC();

  // control loop each ~25ms
  if(loop_count++ > 25){
    // updating the pendulum angle sensor
    // NECESSARY for library versions > v2.2 
    pendulum.update();
    // calculate the pendulum angle 
    float pendulum_angle = constrainAngle(pendulum.getAngle() + M_PI);

    float target_voltage;
    if( abs(pendulum_angle) < 0.5 ) // if angle small enough stabilize
      target_voltage = controllerLQR(pendulum_angle, pendulum.getVelocity(), motor.shaftVelocity());
    else // else do swing-up
      // sets 40% of the maximal voltage to the motor in order to swing up
      target_voltage = -_sign(pendulum.getVelocity())*motor.voltage_limit*0.4;

    // set the target voltage to the motor
    motor.move(target_voltage);

    // restart the counter
    loop_count=0;
  }
   

}

// function constraining the angle in between -pi and pi, in degrees -180 and 180
float constrainAngle(float x){
    x = fmod(x + M_PI, _2PI);
    if (x < 0)
        x += _2PI;
    return x - M_PI;
}

// LQR stabilization controller functions
// calculating the voltage that needs to be set to the motor in order to stabilize the pendulum
float controllerLQR(float p_angle, float p_vel, float m_vel){
  // if angle controllable
  // calculate the control law 
  // LQR controller u = k*x
  //  - k = [40, 7, 0.3]
  //  - x = [pendulum angle, pendulum velocity, motor velocity]' 
  float u =  40*p_angle + 7*p_vel + 0.3*m_vel;
  
  // limit the voltage set to the motor
  if(abs(u) > motor.voltage_limit*0.7) u = _sign(u)*motor.voltage_limit*0.7;
  
  return u;
}

And this is a real picture. Could it be a connection mistake?

[Jagamu1998]

Hi, did you fix that issue, I´m having the same problem. Thanks

[JTShuai]

I met similar issues before. Here are some possible reasons:

1. check the motor pole pair number. I saw in your code you set 11 pairs. Did you check if it is the correct number for your motor?
2. check the coupling shaft you used for the motor. It can have effects as well. It could be your shaft locking the motor.
3. when you mount your motor on the crank, do you use screws? If you use screws, please be careful with the length of them. One of my motors was broken due to the long screw which hurt the motor.

Hope these information can help you.

[Jagamu1998]

Hi, in my case I´m using the IFlight-Motor, GM4108H-120T I think it has 11 poles, but I don´t know where to check it.
Probably my issue is occurring because I´m not using the correct size screw for the sensor of the base and does not pick right the data. I will buy a new set of screws in some days.
I don´t think that my motor is damaged because, I did the tests of angle, velocity and torque within the code.