Space Vector Servo Driver
As servo drives are quite expensive I decided to make my own
BLDC/PMSM motor driver with space vector control.
Equipped with servo controller and gate driver from Trinamic,
and a 32-bit STM32 microprocessor.
Supports velocity, torque and position control.
Runs in a closed-loop cycle with encoder feedback for position and
current sensing for torque.
Software written in C/C++.
Block diagram of the motor driver.
Robotic joint assembly modelled in Solidworks.
Overview of the schematic hierarchy.
Schematic for H-Bridge.
Working breadboard prototype.
