Commit 2ab9604d authored by Jake Read's avatar Jake Read

add notes

parent efc3d30c
......@@ -43,4 +43,7 @@ bulletproof commutation is encoder-based - low speed, at stall, with variable mo
# Notes
- read shane colton's pdf on sensorless field oriented control, and his park-transform free FOC solution: sounds cool. finish phase search algorithm.
- FOC is basically finding the right phase offset to correct for inductance... with the inputs of current current vector, current position, we should be able so search for the optimum voltage vector. 2D.
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- FOC is basically finding the right phase offset to correct for inductance... with the inputs of current current vector, current position, we should be able so search for the optimum voltage vector. 2D.
- two things:
- direct encoder -> commutation loop is too dumb, but close. just needs state estimated rotor position, can't read encoder often enough: use simple linear guess from speed or do kalman filter
- to test current controller / sensing hardware, take the rotor off and write a very simple controller for the I term on one phase. duh.
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