Index

MicroWorks 30B4 board

  1. Datasheets 30B4
    1. STM32F103
      1. ADC
      2. STM32 EEPROM
    2. MPU6050
      1. DMA
      2. Issue communications
        1. 01
    3. MPU6050 freq
  2. firmware motor control
  3. Implementations with MicroWorks 30B4 board
  4. Links to sellers

MicroWorks 500W 30km/h motor

  1. BEMF measurements

Flash and Debug STM32

  1. Eclipse IDE and JTAG
  2. Unlock STM32F103 with JTAG
  3. Flash firmware using Bluetooth
    1. STM32F103C6T8 bootloader
    2. ZS-040 Bluetooth module
      1. HC-06 hc01.comV2.0
  4. Serial Port Bluetooth
  5. Serial Port Plot
  6. SM32F103C8T6 use 128kbytes flash

FOC

  1. Observer
  2. Shane Colton documentation and firmware
    1. Firmware
    2. Part 1: Field-Oriented
    3. Part 2: Field-Oriented
    4. Sensorless Pneu Scooter - part 1
    5. Sensorless Pneu Scooter - part 2
    6. Sensorless Pneu Scooter - part 3
  3. Texas Instruments videos
  4. Chinese controllers code

Balance controller

  1. Chinese balance group reference design
  2. Kerry D. Wong -- A Self-Balancing Robot
    1. A Self-Balancing Robot – I
    2. A Self-Balancing Robot – II
    3. A Self-Balancing Robot – III
  3. Self balance bicycle
  4. PID
  5. LQR
    1. Stages of development of the robot-balancer
  6. PID and LQR, MATLAB
  7. Steve Brunton videos

Mechanical parts

  1. Pedals

Various

  1. C language for critical systems
  2. Hall effect sensor placement
  3. The brilliant idea of slow rotating motors
    1. Why does the Torquemax rotate so slowly and so forcefully
  4. Finding Motor Phase-Sensor Combinations

Clipping

  1. Hackaday - 2017.05.07 - opensource firmware for hoverboards

Observer

The Observer is required to estimate the position of the rotor when the motor is running at medium-high speed - the hall sensors start to be less precise at this speed and there is also the risk of failure. At low-zero velocities, the estimator can not estimate the position of the rotor, but here the sensors fit perfectly. In short:

• zero-low speeds:
◇ hall sensors to indicate rotor position
◇ estimator does not work well

• medium-high speeds:
◇ estimator to indicate rotor position
◇ sensor hall are inaccurate and may fail


Observer of VESC


In the VESC code the following document is referenced for the Observer used:
// See http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf

Sensorless Control of Surface-MountPermanent-Magnet Synchronous MotorsBased on a Nonlinear Observer

Linked file: 2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf

The VESC Observer seems to be simpler to implement / mathematical computation vis-a-vis other Observers.


Shane Colton Observer


Linked file: sensorless_gen1_Rev1-1.pdf