From 5d3bcb1ee36c7b48d3b43708f286a6074408c46c Mon Sep 17 00:00:00 2001 From: EmanuelFeru Date: Mon, 7 Oct 2019 10:44:11 +0200 Subject: [PATCH] Update README.md --- README.md | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 82db2e7..1f4c4f4 100644 --- a/README.md +++ b/README.md @@ -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)