From dbc485bbf480f91cf15851133c9cda170b30e965 Mon Sep 17 00:00:00 2001 From: Candas1 Date: Thu, 16 Jun 2022 14:19:37 +0200 Subject: [PATCH] Update README.md --- README.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index d651857..2f8f9c3 100644 --- a/README.md +++ b/README.md @@ -55,14 +55,14 @@ For the reverse-engineered schematics of the mainboard, see [20150722_hoverboard --- ## FOC Firmware -In this firmware 3 control types are available: -- Commutation -- SIN (Sinusoidal) -- FOC (Field Oriented Control) with the following 3 control modes: - - **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors. Recommended for robotics applications or applications where a fast motor response is required. - - **SPEED MODE**: in this mode a closed-loop controller realizes the input speed target by rejecting any of the disturbance (resistive load) applied to the motor. Recommended for robotics applications or constant speed applications. - - **TORQUE MODE**: in this mode the input torque target is realized. This mode enables motor "freewheeling" when the torque target is `0`. Recommended for most applications with a sitting human driver. - +In this firmware 3 control types are available, it can be set in config.h file via CTRL_TYP_SEL parameter: +- Commutation (COM_CTRL) +- Sinusoidal (SIN_CTRL) +- Field Oriented Control (FOC_CTRL) with the following 3 control modes that can be set in config.h file with parameter CTRL_MOD_REQ: + - **VOLTAGE MODE(VLT_MODE)**: in this mode the controller applies a constant Voltage to the motors. Recommended for robotics applications or applications where a fast motor response is required. + - **SPEED MODE(SPD_MODE)**: in this mode a closed-loop controller realizes the input speed target by rejecting any of the disturbance (resistive load) applied to the motor. Recommended for robotics applications or constant speed applications. + - **TORQUE MODE(TRQ_MODE)**: in this mode the input torque target is realized. This mode enables motor "freewheeling" when the torque target is `0`. Recommended for most applications with a sitting human driver. + #### Comparison between different control methods |Control method| Complexity | Efficiency | Smoothness | Field Weakening | Freewheeling | Standstill hold |