Published in Journal of Industrial Engineering and Robotics, Volume 4, Number 3
Written by DEAC George-Antoniu, NASTASE Robert-Paul
Scientific coordinators: Cozmin CRISTOIU

The paper presents the conceptual design, virtual prototype achievement and the real physical system implementation of a test stand for electric motor cascading PID control using a modified firmware version of an ODrive motor controller in order to control both, brushless and brushed DC electric motors. The initial version of the controller board is dedicated only to brushless motors, but with current firmware upgrade the cheaper brushed motors can be PID controlled proficiently. The firmware upgrade will also allow low latency force-feedback. Results from testing of the positioning closed loop control are presented. The presentation test bench consists of: an Odrive controller board (with a custom firmware), a typical brushed DC motor, a 4000cpr incremental optical encoder, individually designed 3D printed mounting brackets, indicator and angular ruler, an additional ESP32 microcontroller and an adjustable power supply.

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