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, I2C)
   • 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.

DF45L024048-A

Specification	Value
Motor Type	Brushless DC (BLDC), Outer Rotor
Nominal Voltage	24 V
Rated Current	6.4 A
Nominal Power	151 W
Rated Speed	3175 rpm
Torque Constant (Kt)	0.045 Nm/A
Resistance	1.2 Ω
Inductance	0.4 mH
Rotor Inertia	13 g·cm²
Weight	320 g
Shaft Diameter	5 mm
Outer Diameter	45 mm
Length	48 mm
Encoder Option	Hall sensors
Protection Class	IP40