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anybody interested in ninebot-segway's sensorless position observer?

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lanmanck
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anybody interested in ninebot-segway's sensorless position observer?

This paper is from Ninebot-segway , which made self-balancing vehicle. their driver is very good to control hall bldc/pmsm.

I want to change to position estimation to this algorithm, anybody interested can discuss here.

 

http://www.labisart.com/public/uploads/ninebot-segway-paper.pdf

lanmanck
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I wonder how to write it to C language, anyone's help is appreciated.

hall production