Hi Odrive Community!
I am working on a project in which I want to use State Feedback Control to position control a BLDC motor in combination with the Odrive. I want to do this since translating time domain specifications into controller gain using this method is way more exact then the heuristic method of PID tuning. I would run the current control PD on the Odrive and the state feedback on a micro controller. For this to work a state space representation needs to be made of the the whole BLDC system. Using the control scheme from the Odrive Documentation (seen below), I wanted to determine the state space representation of the green box, where the current command is the input, as shown by the red arrow, and the motor position is the ouput. I have done much research and have found complicated versions which will require also modeling the inverter, or simple 2nd/3rd order systems .
My questions are:
- What is the correct state space model to use?
- Would you advise to take the other approach of applying system identification methods to determine the state space?
- Furthermore, out of curiosity, what are the units of the command generated by the current controller? Is it voltage?
Thanks in advanced!