Skip to content

Merge changes from master to dev #17

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 4 commits into from
Sep 21, 2023
Merged

Merge changes from master to dev #17

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
d6ef951
Update FOC_routine.md
askuric Sep 13, 2023
de3abc3
Update FOC_routine.md
askuric Sep 13, 2023
a2ed7e8
Update FOC_routine.md
askuric Sep 13, 2023
0bf0f4f
Update FOC_routine.md
askuric Sep 13, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 11 additions & 3 deletions docs/simplefoc_library/digging_deeper/theory/FOC_routine.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -50,10 +50,18 @@ Sinusoidal modulation is based on two transformation equations.
<img src="../extras/Images/foc_modulation.png" >

Inverse Park transformation:<br>
<img src="../extras/Images/inverse_park.png" style="margin-left:50px;margin-top:10px;margin-bottom:10px;width:150px"><br>

$$U_{\alpha} = U_q sin(\theta)$$

$$U_{\beta} = U_q cos(\theta)$$

Inverse Clarke transformation:<br>
<img src="../extras/Images/inverse_clarke.png" style="margin-left:50px;margin-top:10px;margin-bottom:10px;width:180px">

$$u_a = U_{\alpha}$$

$$u_b = \frac{-U_{\alpha} + \sqrt{3}U_{\beta}}{2}$$

$$u_c = \frac{-U_{\alpha} - \sqrt{3}U_{\beta}}{2}$$

Here is the code of implementation of the Sinusoidal PWM in the <span class="simple">Simple<span class="foc">FOC</span>library</span>:
```cpp
Expand Down Expand Up @@ -229,4 +237,4 @@ But every motor is a bit different and you can check these values empirically on

## Further read

For more info about the initialization procedure, real-time execution and the implementation details please visit [FOC implementation docs](foc_implementation).
For more info about the initialization procedure, real-time execution and the implementation details please visit [FOC implementation docs](foc_implementation).