Thank you vedderb for this wonderful open source project!!
I am also trying to find the reference paper for this specific HFI implementation in vesc. I am starting to go through the code implementation in file: mcpwm_foc.c and function: hfi_update(*)... and having the reference paper to start with will be great.
The implementation does not come from any specific paper, I came up with it myself. Jeff and me spent an afternoon the first time we met doing a few tests, and it seemed like it can work. I then spent the entire week after refining it and getting it to work well. The basic principles are quite simple, the tricky part was getting all the transitions, details and corner cases right without wasting too many CPU cycles - it took a lot of testing and trial and error. It might be worth writing about it at some point, but the best reference at the moment is the video I made and the code itself.
Thank you vedderb for this wonderful open source project!!
I am also trying to find the reference paper for this specific HFI implementation in vesc. I am starting to go through the code implementation in file: mcpwm_foc.c and function: hfi_update(*)... and having the reference paper to start with will be great.
i 'm looking for the reference paper of hfi in vesc，but i can't find it,It would be better if provide in vesc
The implementation does not come from any specific paper, I came up with it myself. Jeff and me spent an afternoon the first time we met doing a few tests, and it seemed like it can work. I then spent the entire week after refining it and getting it to work well. The basic principles are quite simple, the tricky part was getting all the transitions, details and corner cases right without wasting too many CPU cycles - it took a lot of testing and trial and error. It might be worth writing about it at some point, but the best reference at the moment is the video I made and the code itself.