I have started to work on a little project of mines, which consists in implementing the stabilization a single axis gimbal using Arduino.
The gimbal is driven by a sensorless three phase brushless DC (BLDC) motor, while on it's shaft there is a generic payload provided with an IMU board (3 axes gyros + 3 axes accelometers), which can give feedback to the Arduino about the angular rates and accelerations.
I have googled a bit about this topic and there are so many solutions out there, the only thing I really do not understand is about the control of the BLDC motor.
- Can I use a sensorless control of the motor, by sensing the back EMF even if the motor is spinning very low?
- How can I energize properly the phases of the BLDC motor if it is sensorless?
- Can I use the IMU for finding out how to spin the BLDC motor properly without counter rotations?
Could you give me any help, please?