interfisch
/
hoverboard-firmware-hack-foc-serial-esc
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Update README.md

This commit is contained in:
EmanuelFeru 2019-10-07 10:44:11 +02:00 committed by GitHub
parent c89299e48a
commit 5d3bcb1ee3
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 13 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
README.md
View File

@ -4,18 +4,24 @@
This repository implements Field Oriented Control (FOC) for stock hoverboards. Compared to the commutation method, this new FOC control method offers superior performance featuring:
- reduced noise and vibrations
- smooth torque output
- improved motor efficiency. Thus, lower energy consumption
- smooth torque output and improved motor efficiency. Thus, lower energy consumption
- field weakening to increase maximum speed range
This new firmware offers 3 control modes:
- **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors
- **SPEED MODE**: in this mode a closed-loop controller realizes the input target speed by rejecting any of the disturbance (resistive load) applied to the motor
- **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0".
**NOTE**: In all the modes, the controller features maximum motor speed and maximum motor current protection. This brings great advantages to fulfil the needs of many robotic applications while maintaining safe operation.
## Firmware architecture
The main firmware architecture including:
- **Estimations**: *estimates the rotor position, angle and motor speed based on Hall sensors signal*
- **Diagnostics**: *implements error detection such as unconnected Hall sensor, motor blocked, MOSFET defective*
- **Control Manager**: *manages the transitions between control modes (Voltage, Speed, Torque)*
- **FOC Algorithm**: *implements the FOC strategy*
- **Control Type Manager**: *Manages the transition between Commutation and FOC Algorithm*
- **Estimations**: estimates the rotor position, angle and motor speed based on Hall sensors signal
- **Diagnostics**: implements error detection such as unconnected Hall sensor, motor blocked, MOSFET defective
- **Control Manager**: manages the transitions between control modes (Voltage, Speed, Torque)
- **FOC Algorithm**: implements the FOC strategy
- **Control Type Manager**: Manages the transition between Commutation and FOC Algorithm
![Firmware architecture](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FW_architecture.png)