Startup sequence, Flight Sim yoke


Im new in bldc and odrive stuff.
Let’s assume that in my system a bldc motor can rotate only … 90deg (it is physically limited by a beam connected to its shaft).
How can I perform a startup seq? (I think the motor needs at least few revolutions of the shaft).
Do I have to perform a startup seq for every single startup?

Im planning to use odrive+bldc for a flight simulator force feedback yoke.
There will be an autopilot mode where the yoke should follow a position commanded by autopilot (yoke is centered at the beginning, autopilot on, aircraft is turning to the left=yoke is moving to the left)

The problem is when you fly in turbulent air-the autopilot commands are very rapid/abrupt. Im affraid that my yoke (all shafts and gears) may have quite big inertia. Are there any commands/parameters that I could adjust to let the motor gently overshoot the requested position? (To protect my hardware- pushrodes/gears etc).
(There are dc motor + PID projects where you can tune all required parameters, to add a bit of sprung behaviour).

Thanks for any ideas, hints and tips.

Not if you use an absolute encoder, e.g. AS5047P connected via SPI.

Yes, you can tune the PID control gains within the ODrive software tools.

Thank you for your quick reply

Couldn’t you just current limit the motors so they only provide a certain amount of power? (I’m new to this too and am using this for a flight simulator as well.)

My plan was:

  1. Autopilot mode
    Use fixed current, adjust PID (to add a bit of sprung behaviour), follow the possition

  2. Manual handling
    Adjust current and hold possition (with relation to IAS speed, low hydraulic pressure)

In case of 1) it should be possible to adjust current as a function of a distance to a new positon … but i think it easier to adjust PID parameters (it doest similar)

No. The phase currents can only be translated to a torque via Park’s transform if the rotor angle is known. Without the encoder, you don’t know if the field is aligned properly to the magnets.