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EmanuelFeru 2019-10-06 16:01:59 +02:00
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README.md
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@ -21,19 +21,19 @@ The main firmware architecture including:
The FOC algorithm architecure is illustrated in the figure below:
![FOC algorithm](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/FOC_algorithm.png?token=AF5B7SOOBHQ3SIOLSTATHAS5THZLO)
![FOC algorithm](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FOC_algorithm.png)
In this firmware two control methods are available:
- Commutation method
- FOC method
![Schematic representation of the available control methods](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/01_Matlab/02_Figures/control_methods.png?token=AF5B7SOOBHQ3SIOLSTATHAS5THZLO)
![Schematic representation of the available control methods](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/01_Matlab/02_Figures/control_methods.png)
A short video showing the noise performance of the Commutation method vs advanced control method:
[►Video: Commutation method vs FOC](https://drive.google.com/file/d/1vC_kEkp2LE2lAaMCJcmK4z2m3jrPUoBD/view)
![Hoverboard wheel](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/hoverboard_wheel.JPG?token=AF5B7SOOBHQ3SIOLSTATHAS5THZLO)
![Hoverboard wheel](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/hoverboard_wheel.JPG)
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@ -56,7 +56,7 @@ A short video showing the noise performance of the Commutation method vs advance
- For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EmanuelFeru/FixedPointViewer) tool
- The parameters data Fixed-ppoint types are given in the following table:
![Parameters table](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/paramTable.png?token=AF5B7SPW4GUSLSRZKCAZ7WC5THY4M)
![Parameters table](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/paramTable.png)
### Future work