Hello, I'm HERKULES 5

The Full-Featured Sinus Motor Controller with CAN

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The Herkules 5 - OctoESC

A Masterpiece of Engineering!

Our latest innovation and contribution to High-End Multicopter Design.

Features:

  • 8 x 32bit Microcontroller with 168MHz
  • Field Orientet Motor Control (FOC)
  • All Motors connectable with Motor connectors
  • Integrated Dual Battery Switch for Redundant operation
  • 2 x CAN-BUS (Support for UAV-CAN)
  • 8 x PPM (Standard RC interface)
  • 1 x I2C (Mikrokopter compatible)
  • 1 x UART (Telemetry and Mikrokopter redundancy)

HERKULES 5 (en)

High-End Sinus Motor Controller with CAN-BUS

HERKULES 5 is a high performance brushless motor control electronic (ESC) for professional and industrial application.

It can drive brushless DC motors (BLDC) with trapezoidal (BLDC) or sinusoidal current shape by use of field-oriented control (FOC). Application can select between control modes PWM (Duty-cycle), TORQUE (Current-control) or RPM (speed-control).

The powerstage is fully protected against over-voltage, over-current and over-temperature. The currents in all motor phases and in the battery lines are measured and cycle-by-cycle limited. This allows a perfect current regulation and motor protection especially at fast speed changes and the acceleration and the recuperation current can be controlled precisely.

Communication is possible via CAN, UART, I2C, PPM and USB interface with fast update rates up to 1000Hz. A graphical Windows-tool allows easy configuration of all parameters and updating the firmware. 

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Key Features

Features:

  • High-End Brushless Motor Speed Controller
  • Supply Voltage 9-52V (3-12S LiPo)
  • Motor current 200Apeak / 80A continuous
  • Trapezoidal (BLDC) or Sinus Drive (FOC)
  • Autotiming (Phase-advance, field-weakening)
  • Sensorless and sensored commutation
  • optional hall-sensor and external FAN control
  • Flexible configuration of all parameters with comfortable graphical user interface
  • Setpoint update rate up to 1000Hz

Drive Modes:

  • duty-cycle (PWM)
  • current (TORQUE)
  • speed-control (RPM)
  • Fast direction change (reverse mode)
  • Recuperation

 

Interface Connections

Communication interfaces:

  • 2 x CAN
  • 2 x PPM (galvanic decoupled)
  • 1 x UART (galvanic decoupled)
  • 1 x I2C (galvanic decoupled)
  • 1 x USB (galvanic coupled)
  • Setpoint update rate up to 1000Hz

All communication and control interface connectors are made as

  • MOLEX CLICKMATE

 

Connections: USB / SD

USB and SD-Storage Card

  • Integrated datalogger with microSD Card

Diagnosis:

  • Multiple RC-telemetry protocols (Futaba, Graupner, Jeti, HiTec, Multiplex, etc.)
  • Open diagnosis and communication protocol

System Architecture

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Mechanical Dimension

Mechanics:

  • CNC-milled aluminum case for best cooling
  • Weight: ca. 135g (incl. aluminium case and battery wire)
  • Dimension (LxWxH): 83x42x20mm (basic body)
  • Connector type: MOLEX CLICKMATE

Highest Quality:

  • Designed with professional experience and passion
  • Manufactured with Precision
  • Tested with care
  • 100% Made in Germany

Basic Motor Control Modes

Motors can be driven in different control modes. The mode and it’s setting can be programmed with the graphical configuration tool.

BLDC - Trapezoidal block commutation (sensored or sensorless)

In the BLDC mode, the ESC drives only two motor phases at a time with current. The third motor phase is used for sensing the right commutation time. This mode is mainly used in most standard ESCs. User can select between sensored, sensorless or mixed mode operation.

FOC - Field oriented Vector Control (sensored or sensorless)

In the FOC mode, the ESC drives the motor phases with a sinusoidal current shape, calculated by load and motor characteristics. This has very low commutation noise and high torque at low speed. User can select between sensored, sensorless or mixed mode operation.

Power control options

Depending on the application, different power control options are selectable by configuration.

PWM-Mode – Duty-Cycle control

The motor setpoint received from master is translated to a PWM with variable duty-cycle proportional to the setpoint. The motor phase voltage is changed and the speed of the motor changes. The motor speed changes when the load or the battery supply voltage changes and the master control has to take care on sending new setpoints to compensate this behavior. This mode is used in most standard ESCs.

Torque Mode- Current Control

The motor setpoint received from the master is translated to a motor current setpoint and controlled in a fast direct regulation loop. This mode allows a high linearity between setpoint and motor torque and gives a fast and direct control over the motor power output. This mode is often used in ground vehicle drives where user wants to control the motor torque.

RPM Mode – Speed Regulation

The motor setpoint received from the master is translated to target speed setpoint and controlled in a PID regulation loop. This gives best control about the motor speed independent on the load. Depending on motor / load setup, the regulation is slower than in torque mode. User has to carefully trim PID regulation parameters to get a stable behavior.

Quadrant Operation

The ESC can drive in forward or backward direction the motor. User can program the acceleration deceleration / braking current separately and define also the recuperation current proportional relative to the setpoint.

Unidirectional A

Unidirectional (no reverse) without recuperation / active freewheel

Unidirectional B

Unidirectional (no reverse) with recuperation / active braking

Bidirectional A

Bidirectional (reverse mode possible) without recuperation / active freewheel

Bidirectional B

Bidirectional (reverse mode possible) with recuperation / active braking

Fully Protected

Reliable and Safe

Protection Features:

  • Fully protected against over-current and over-voltage with soft-limitation
  • Fully controlled acceleration and braking current (recuperation current control)
  • Highly robust commutation in all conditions especially at fast speed changes
  • Robust and light weight mechanic design for professional application
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Highest Quality and Designed with Passion!

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Applications:

  • Multicopter UAV application(Supports DJI, Mikrokopter, Pixhawk, etc.)
  • Airplane UAV Industrial Vehicle Drive Sets
  • Robotics