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Apr 26, 2013, 03:43 AM
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Brushless gimbal busted

Brushless gimbal busted (1 min 11 sec)

The towerpro/turnigy 2410-9 motor doesn't work in a brushless gimbal. Though properly wound in a star pattern, it needs 3A to smooth out the cogging. The L6234 could only do 0.3A before overheating. At this current, cogging is a real problem & the snapping movement saturates the gyros. Maybe a higher power motor driver could do it, but it would take 6A to power 2 motors.

Other than the motor problem, the PID calibration seemed real close. The minimal software for level pointing was quite simple, but it would take some doing to get it to point down.

Prewound brushless gimbal motors have only been available for around a month, but are $30 to $50, so that ends the short experiment in a brushless gimbal. The fascination was mostly in how a 3 phase motor can be made to point like a very fast servo. They might be useful in astronomy or a large monocopter actuator. They would definitely have come in handy in 2011.
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Apr 27, 2013, 03:40 AM
Wake up, feel pulse, be happy!
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Are you using the motor in its stock form? Dedicated gimbal motors are using their extremely low Kv values to achieve very high torque constant figures, allowing them to heave a camera around without needing a whole lot of current to do it. The star/Y termination is just a method of getting Kv as low as possible with reasonable wire gauges.

Does the controller use traditional back-emf sensing to determine rotor position at all, or is gimbal position being determined entirely by the gyros? If feedback from the motor is in play here, then a lower Kv would probably also result in faster/more accurate sensing and less cogging.

I don't know beans about the software side of things, but I still consistently find this blog fascinating
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