Microcontroller-Based Direct Torque Control Servodrive

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Components</td><td class="align_center">Description</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">CPU</td><td class="align_center">Xtensa dual-core 32 bit LX6 240 MHz processor. Includes ultralow power coprocessor.</td></tr><tr><td class="align_left">Embedded memory</td><td class="align_center">448 KB ROM, 4 MB SPI flash, 8 MB PSRAM.</td></tr><tr><td class="align_left">Peripherals</td><td class="align_center">SD card, LED PWM, motor PWM, IR, pulse counter, GPIO, capacitive touch sensor, 2 x ADC, 2 x DAC, and Hall-effect sensor.</td></tr><tr><td class="align_left">Communication</td><td class="align_center">Wi-fi (2.4 GHz), Bluetooth 4.2, CAN bus 2.0, SPI, UART, <i>I</i><sup>2</sup>C, and <i>I</i><sup>2</sup>S.</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>ESP32-WROVER-B specifications and peripherals.</div>

Journal of Robotics

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Table 3

Table 3: Microcontroller-Based Direct Torque Control Servodrive 