From 38b518a86f519666450e134ed59b2531677c25ca Mon Sep 17 00:00:00 2001 From: EmanuelFeru Date: Sun, 6 Oct 2019 15:54:24 +0200 Subject: [PATCH] Update README.md --- README.md | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 7c9803e..b1a0fe3 100644 --- a/README.md +++ b/README.md @@ -23,24 +23,25 @@ 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=AF5B7SMHSBHOIMKNDO6MI6K5THYDQ) -In this firmware 2 control methods are available: +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=AF5B7SKKAOYGW53BEGBSWBK5THYFU) A short video showing the noise performance of the Commutation method vs advanced control method: + [â–ºVideo: 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=AF5B7SLDXZCN4P2IJ6WWBYC5THYIO) --- -GENERAL NOTES: +## General Notes - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab). - A [webview](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab/BLDC_controller_ert_rtw/html/webview) was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code -NOTES Field weakening: +### Notes Field weakening: - By default the Field weakening is disabled. You can enable it in config.h file by setting the FIELD_WEAK_ENA = 1 - In BLDC_controller_data.c you can find the field weakening Map as a function of speed: MAP = id_fieldWeak_M1, XAXIS = n_fieldWeak_XA @@ -48,14 +49,15 @@ NOTES Field weakening: - If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast! - During the recalibration make sure the speed values in XAXIS are equally spaced for a correct Map interpolation. ---- -## Parameters + +### Parameters - All the calibratable motor parameters can be found in the 'BLDC_controller_data.c'. I provided you with an already calibrated controller, but if you feel like fine tuning it feel free to do so - The parameters are represented in Fixed-point data type for a more efficient code execution - 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: ->> Table +![Parameters table](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/paramTable.png?token=AF5B7SPW4GUSLSRZKCAZ7WC5THY4M) + ### Future work - conversion of the remaining filters (for the battery voltage, current, and temperature) from floating point to fixed-point. This will reduce further the SMT32 computational load