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Old 09-15-2014, 12:23 PM   #1107 (permalink)
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Join Date: Feb 2008
Location: Maricopa, AZ (sort of. Actually outside of town)
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You know when I said I understood everything finally? I was wrong! But now I do! haha. Well, more or less. I found a mistake in the SVM step. I had Va, Vb, and Vc, (all of which could have been nonzero), but then I was using 2 of the component vectors as if the 3rd was zero. The very final step of the field oriented control was to find an equivalent vector, but only using 2 of the 3 unit vectors in the directions from Va, Vb, Vc. I downloaded tcc, (tiny c compiler) and have debugged each of the steps of the FOC code, with lots of printf outputs, and graphs in excel. It's all actually working! I was wondering how I was going to debug it. It would have been tough without a separate c compiler.
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