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Update README.md

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EmanuelFeru 2019-10-06 15:54:24 +02:00
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README.md
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@ -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:
[►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=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