Hello

[Candas1]

Hello,

Very insteresting project.
Are you in the SimpleFOC community ?
I am currently checking if Qfplib would help getting FOC to run faster and just saw you are using it.
Do you have any feedback ?

Thanks in advance.

[HangX-Ma]

I'm glad you are interested in my miniFOC project. I'm not a member of Simple FOC community but I actually learn a lot of techniques and knowledge from it. I once majored in EE when in undergraduate. Doing this project was purely out of personal interest.

Qfplib works well in Cortex-M3 series chips. I think TI's IQmath has been widely used in such chips that has no hardware float calculation capability. I just want to find a math library to substitute it. Actually, Qfplib works well. I used to debug my project and this math library visibly speeded up the calculation process, though not accurately as using those timing lib.

I hope my answer can assist your further study and work. -v- @Candas1

[Candas1]

Thank you.
I will try it, it seems Qfplib can be used to substitute match operators without changing the code (blog post).

I recently proposed this, maybe this is also useful for you.

SimpleFOC could probably run on your hardware.

[HangX-Ma]

Great posts! Thanks for your suggestion. I think they will increase my understanding of Qfplib and help me to optimize the firmware.

[Candas1]

You have 3 shunts, you could also only use the 2 phase currents of the phases with lowest duty cycle and do the foc with 2 phase currents only.

That would prevent issues at high duty cycle.

[HangX-Ma]

You have 3 shunts, you could also only use the 2 phase currents of the phases with lowest duty cycle and do the foc with 2 phase currents only.

That would prevent issues at high duty cycle.

I used to use the two phases version, but I encountered with the current phase sequence problem. Three phases control version cloud give me a chance to change the current phase sequence conveniently. Finally, I found that maybe my hardware design has some subtle mistakes that introduces noise into the current sense module. I didn't solve this problem. So this firmware version only uses the voltage control method.