ESC

Electronic Speed Controller

Description

The Electronic Speed Controller (ESC) is necessary to control the BLDC motors used for the wheels

Requirements

1. Bidirectional Control

   • The motors need to run both forwards and backwards. ESC must be bidirectional

2. Customization

   • Ability to configure acceleration curves and braking is necessary

3. Communication Interface

   • The ESCs should accept control inputs from an NUCLEO-H723ZG (e.g. PWM, UART, CAN)
   • The ESC should provide feedback which can be used to improve the control precision. (e.g. EMF)

4. Motor Compatibility:

   • Compatible with brushless motors (DF45L024048-A).
   • Voltage and current ratings meet or exceed motor specifications.

5. Physical Size and Weight:

   • Fits within the physical constraints of your robot's design.
   • Consideration of overall weight to maintain performance.

6. Power Management:

   • Integrated Battery Eliminator Circuit (BEC), needed to power electronics.
   • Efficient power usage to maximize battery life.

B-G431B-ESC1

Specification	Value
Microcontroller	STM32G431CB (32-bit ARM Cortex-M4)
Voltage Range	8 V to 28 V
Continuous Current	Up to 15 A
Peak Current	40 A
Motor Type	Brushless DC (BLDC)
Control Algorithm	Field-Oriented Control (FOC) & 6 step commutation
PWM Frequency	Configurable, up to 100 kHz
Communication Interfaces	UART, CAN, PWM
Sensor Compatibility	Hall sensors, Encoder, Sensorless
Dimensions	30 mm x 41 mm
Weight	Approx. 9.2 g
Programming Options	ST-Link Debugger, STM32CubeIDE
Protection Features	Overcurrent, Overvoltage, Overtemperature