├── .gitmodules ├── Hardware ├── FOC_Driver.PcbDoc ├── FOC_Driver.PrjPcb ├── FOC_Driver.PrjPcbStructure ├── FOC_Driver.SchDoc └── History │ └── FOC_Driver.~(1).PrjPcb.Zip ├── Mechanics ├── 91290A110_Alloy Steel Socket Head Screw.STEP ├── 92080A004_Zinc-Plated Brass Female Threaded Hex Standoff.STEP ├── 94868A164_Female Threaded Hex Standoff.STEP ├── FOC_Driver.step ├── PCB外框.DWG ├── PCB外框.SLDPRT ├── 上盖.dxf └── 下盖.dxf ├── README.md ├── Reference └── TIDA-00827 │ ├── TIDCBL8.ZIP │ ├── TIDRJI5.PDF │ ├── TIDRJI6.PDF │ ├── TIDRJI7.PDF │ ├── TIDRJI8.PDF │ ├── TIDRJI9.ZIP │ └── TIDUBA3.PDF ├── Render ├── 1.png └── 2.png ├── Simulation ├── BLDC仿真模型.rar ├── BLDC仿真模型 │ ├── 2016a版本仿真 │ │ └── 2016版本 │ │ │ ├── BLDC_2016.slx │ │ │ ├── BLDC_2016.slxc │ │ │ └── slprj │ │ │ └── sim │ │ │ └── varcache │ │ │ └── BLDC_2016 │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ ├── 2018b版本仿真模型.rar │ ├── 低版本仿真模型.rar │ ├── 基于matlab_simulink的无刷直流电机控制系统仿真 │ │ ├── BLDC_PID080927.mdl │ │ ├── BLDC_PID080927.mdl.r2008a │ │ ├── BLDC_PID0809271.mdl │ │ └── __Previews │ │ │ └── BLDC_PID080927.mdlPreview │ ├── 直流无刷+PID仿真 │ │ ├── BLDC_PID.mdl │ │ ├── BLDC_PID.slxc │ │ └── slprj │ │ │ ├── _sfprj │ │ │ └── EMLReport │ │ │ │ └── ouVx9tltdUkOEc4M9eFtRG.mat │ │ │ └── sim │ │ │ └── varcache │ │ │ └── BLDC_PID │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ └── 直流无刷（BLDC）中英文文章资料 │ │ ├── 1、无刷直流电机模型 │ │ ├── 人工蜂群算法优化无刷直流电机PID控制.zip │ │ ├── 人工蜂群算法优化无刷直流电机PID控制 │ │ │ └── 蜂群算法 │ │ │ │ ├── FindElse_FUN.m │ │ │ │ ├── FindNewSolution_FUN.m │ │ │ │ ├── IterBestJ.m │ │ │ │ ├── PID_ABC.m │ │ │ │ ├── PID_FUN.m │ │ │ │ ├── PID_FUNTest.m │ │ │ │ └── Sort_FUN.m │ │ ├── 六步逆变器供电的无刷直流电机.zip │ │ ├── 六步逆变器供电的无刷直流电机 │ │ │ └── BrushlessDCmotorxt.mdl │ │ ├── 基于matlab_simulink的无刷直流电机控制系统仿真.rar │ │ ├── 基于matlab_simulink的无刷直流电机控制系统仿真 │ │ │ ├── BLDC_PID080927.mdl │ │ │ ├── BLDC_PID080927.mdl.r2008a │ │ │ └── BLDC_PID0809271.mdl │ │ ├── 无刷直流电机仿真.rar │ │ ├── 无刷直流电机仿真技术仿真，里面附带论文.zip │ │ ├── 无刷直流电机仿真模型.rar │ │ ├── 无刷直流电机的matlab.rar │ │ └── 无刷直流电机直接转矩控制模型.zip │ │ ├── Advanced digital control techniques for brush-less DC (BLDC) motor drives..pdf │ │ ├── Concentric Winding BLDC Motor Design.PDF │ │ ├── Control of a BLDC Motor for Electromechanical.PDF │ │ ├── SERVO PERFORMANCE OF A BLDC DRIVE WITH INSTANTANEOUS TORQUE CONTROL.PDF │ │ ├── Servo Performance of a BLDC Drive with Instantaneous Torque Control.PDF │ │ ├── 单个电流传感器实现的无刷直流电动机相电流检测.pdf │ │ ├── 参数对永磁无刷直流电动机稳态性能的影响.pdf │ │ ├── 参考论文.zip │ │ ├── 土永磁无刷电机转子磁钢尺寸及气隙对输出转矩和效率的影响.pdf │ │ ├── 基于DSP的永磁无刷同步电机的控制系统.pdf │ │ ├── 基于DSP的永磁无刷直流伺服电机全数字控制系统.pdf │ │ ├── 基于DSP的永磁无刷直流电机弱磁控制系统.pdf │ │ ├── 基于TMS320C240芯片的永磁无刷直流电机控制器.pdf │ │ ├── 基于自适应径向基函数神经网络的无刷直流电机直接电流控制.pdf │ │ ├── 小容量无刷直流电动机的热阻及连续功率.pdf │ │ ├── 方波、正弦波无刷直流电机及永磁同步电机结构、性能分析.pdf │ │ ├── 无刷伺服直流电动机的电流换向函数.pdf │ │ ├── 无刷同步电机的转子电流检测.caj │ │ ├── 无刷永磁直流电机的绕组参数计算.pdf │ │ ├── 无刷直流电动机定子绕组的星形和三角形联接.pdf │ │ ├── 无刷直流电动机智能电流调节器设计.caj │ │ ├── 无刷直流电动机电枢等效电阻的实例研究.pdf │ │ ├── 无刷直流电动机电枢等效电阻的研究.pdf │ │ ├── 无刷直流电动机的方波与正弦波驱动.pdf │ │ ├── 无刷直流电动机的电流取样.pdf │ │ ├── 无刷直流电动机系统的电流相位闭环控制.pdf │ │ ├── 无刷直流电动机转矩系数的研究.pdf │ │ ├── 无刷直流电机转子位置的电流注入估算新方法.pdf │ │ ├── 无槽无刷直流电动机.pdf │ │ ├── 正弦波驱动无刷直流电动机的电势系数.pdf │ │ ├── 永磁式无刷直流电动机调速性能分析与优化.pdf │ │ ├── 永磁无刷伺服电机无传感器位置估计方法综述.pdf │ │ ├── 永磁无刷力矩电动机峰值转矩能力的研究.pdf │ │ ├── 永磁无刷电动机技术发展水平及应用前景.pdf │ │ ├── 永磁无刷电动机的技术发展及应用.pdf │ │ ├── 永磁无刷电机交流伺服系统.pdf │ │ ├── 永磁无刷电机力矩分析.pdf │ │ ├── 永磁无刷直流方波电机控制特性及其伺服系统控制策略.pdf │ │ ├── 永磁无刷直流电动机的发展及展望.pdf │ │ ├── 永磁无刷直流电动机的变结构控制.pdf │ │ ├── 永磁无刷直流电动机的特性研究.pdf │ │ ├── 永磁无刷直流电动机的电枢反应.pdf │ │ ├── 永磁无刷直流电动机转矩脉动及其抑制方法.pdf │ │ ├── 永磁无刷直流电动机运行特性的研究.pdf │ │ ├── 永磁无刷直流电机伺服系统全数字化设计.pdf │ │ ├── 永磁无刷直流电机控制系统.pdf │ │ ├── 永磁无刷直流电机的转矩计算及结构参数对转矩的影响.pdf │ │ ├── 永磁无刷直流电机稳态特性的状态空间分析.pdf │ │ ├── 永磁无刷直流电机调速系统的仿真.pdf │ │ ├── 永磁无刷直流电机转子位置估算方法.pdf │ │ ├── 永磁无刷直流电机转矩波动及其抑制的探讨.pdf │ │ ├── 永磁无刷直流电机转矩波动及削弱方法.pdf │ │ ├── 永磁正弦无刷直流电动机力矩波动的测量.pdf │ │ ├── 电流型正弦波驱动无刷直流电机稳态运行分析.pdf │ │ ├── 稀土永磁无刷电动机的调速机理.pdf │ │ ├── 稀土永磁无刷直流电动机反电势及电磁转矩的计算.pdf │ │ ├── 稀土永磁无刷直流电动机数字PID控制的研究.pdf │ │ ├── 稀土永磁无刷直流电动机电枢反应的分析.pdf │ │ ├── 逆变器供电永磁无刷直流电动机传动系统的能量分析.pdf │ │ └── 集中绕组永磁无刷电机的转矩研究.pdf ├── FOC仿真记录.md ├── PMSM_FOC.slx ├── PMSM永磁同步电机Matlab高频注入法滑膜观测器法直接转矩simulink.rar ├── simulink │ ├── simple_model.slx │ ├── slprj │ │ ├── _jitprj │ │ │ ├── jitEngineAccessInfo.mat │ │ │ ├── sJOZRcpj9XoO1nAD1lW7wtC.l │ │ │ └── sJOZRcpj9XoO1nAD1lW7wtC.mat │ │ ├── _sfprj │ │ │ ├── EMLReport │ │ │ │ ├── emlReportAccessInfo.mat │ │ │ │ └── sJOZRcpj9XoO1nAD1lW7wtC.mat │ │ │ ├── precompile │ │ │ │ ├── VGLDt73dh9tUG7h3e6ROUD.mat │ │ │ │ ├── W58Q6eTfIgrPsvzRRAgrkG.mat │ │ │ │ └── autoInferAccessInfo.mat │ │ │ └── untitled │ │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ └── info │ │ │ │ └── binfo.mat │ │ └── sim │ │ │ └── varcache │ │ │ └── system_layout │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ ├── system_layout.slx │ └── system_layout.slxc ├── 三相永磁同步电机（PMSM）SVPWM矢量控制PMSM_PI_decomposition.rar ├── 基于滑膜观测器的PMSM.rar ├── 开关磁阻电机Simulink模型.rar ├── 无刷直流模型合集.rar ├── 永磁同步.rar ├── 永磁同步电机滑膜变结构无速度传感器控制Simulink仿真模型.zip ├── 电动汽车用永磁同步电机驱动控制查表法查询表仿真模型.rar ├── 电机模型.rar └── 直流电机Simulink模型.rar ├── Software └── FOC_Driver_backup │ ├── .cproject │ ├── .idea │ ├── .gitignore │ ├── FOC_Driver.iml │ ├── encodings.xml │ ├── misc.xml │ └── modules.xml │ ├── .mxproject │ ├── .project │ ├── CMakeLists.txt │ ├── Core │ ├── Inc │ │ ├── adc.h │ │ ├── can.h │ │ ├── gpio.h │ │ ├── i2c.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32f1xx_hal_conf.h │ │ ├── stm32f1xx_it.h │ │ ├── tim.h │ │ └── usart.h │ └── Src │ │ ├── adc.c │ │ ├── can.c │ │ ├── gpio.c │ │ ├── i2c.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32f1xx_hal_msp.c │ │ ├── stm32f1xx_it.c │ │ ├── syscalls.c │ │ ├── system_stm32f1xx.c │ │ ├── tim.c │ │ └── usart.c │ ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F1xx │ │ │ │ └── Include │ │ │ │ ├── stm32f103xb.h │ │ │ │ ├── stm32f1xx.h │ │ │ │ └── system_stm32f1xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F1xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f1xx_hal.h │ │ ├── stm32f1xx_hal_adc.h │ │ ├── stm32f1xx_hal_adc_ex.h │ │ ├── stm32f1xx_hal_can.h │ │ ├── stm32f1xx_hal_cortex.h │ │ ├── stm32f1xx_hal_def.h │ │ ├── stm32f1xx_hal_dma.h │ │ ├── stm32f1xx_hal_dma_ex.h │ │ ├── stm32f1xx_hal_exti.h │ │ ├── stm32f1xx_hal_flash.h │ │ ├── stm32f1xx_hal_flash_ex.h │ │ ├── stm32f1xx_hal_gpio.h │ │ ├── stm32f1xx_hal_gpio_ex.h │ │ ├── stm32f1xx_hal_i2c.h │ │ ├── stm32f1xx_hal_pwr.h │ │ ├── stm32f1xx_hal_rcc.h │ │ ├── stm32f1xx_hal_rcc_ex.h │ │ ├── stm32f1xx_hal_spi.h │ │ ├── stm32f1xx_hal_tim.h │ │ ├── stm32f1xx_hal_tim_ex.h │ │ └── stm32f1xx_hal_uart.h │ │ └── Src │ │ ├── stm32f1xx_hal.c │ │ ├── stm32f1xx_hal_adc.c │ │ ├── stm32f1xx_hal_adc_ex.c │ │ ├── stm32f1xx_hal_can.c │ │ ├── stm32f1xx_hal_cortex.c │ │ ├── stm32f1xx_hal_dma.c │ │ ├── stm32f1xx_hal_exti.c │ │ ├── stm32f1xx_hal_flash.c │ │ ├── stm32f1xx_hal_flash_ex.c │ │ ├── stm32f1xx_hal_gpio.c │ │ ├── stm32f1xx_hal_gpio_ex.c │ │ ├── stm32f1xx_hal_i2c.c │ │ ├── stm32f1xx_hal_pwr.c │ │ ├── stm32f1xx_hal_rcc.c │ │ ├── stm32f1xx_hal_rcc_ex.c │ │ ├── stm32f1xx_hal_spi.c │ │ ├── stm32f1xx_hal_tim.c │ │ ├── stm32f1xx_hal_tim_ex.c │ │ └── stm32f1xx_hal_uart.c │ ├── FOC │ ├── FOC.c │ ├── FOC.h │ ├── FOC_conf.h │ ├── FOC_utils.c │ ├── FOC_utils.h │ ├── hardware_api.h │ └── hardware_specific │ │ ├── stm32_mcu.c │ │ └── stm32_mcu.h │ ├── FOC_Driver.ioc │ ├── FOC_Driver.xml │ ├── STM32F103CBTx_FLASH.ld │ ├── cmake-build-debug-mingw-stm32 │ ├── .cmake │ │ └── api │ │ │ └── v1 │ │ │ ├── query │ │ │ ├── cache-v2 │ │ │ ├── cmakeFiles-v1 │ │ │ ├── codemodel-v2 │ │ │ └── toolchains-v1 │ │ │ └── reply │ │ │ ├── cache-v2-00760d119d4c5d01f2cb.json │ │ │ ├── cmakeFiles-v1-edfe105e58c2434657ad.json │ │ │ ├── codemodel-v2-087fd847f24479523de3.json │ │ │ ├── directory-.-Debug-d0094a50bb2071803777.json │ │ │ ├── index-2022-08-23T03-43-33-0927.json │ │ │ ├── target-FOC_Driver.elf-Debug-8dea6b1691084fece84d.json │ │ │ └── toolchains-v1-510e8282b4b3aa0ccdfe.json │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.21.1 │ │ │ ├── CMakeASMCompiler.cmake │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── CMakeCCompilerId.o │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── CMakeCXXCompilerId.o │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── FOC_Driver.elf.dir │ │ │ ├── ASM.includecache │ │ │ ├── Core │ │ │ │ └── Src │ │ │ │ │ ├── adc.c.obj │ │ │ │ │ ├── adc.c.obj.d │ │ │ │ │ ├── can.c.obj │ │ │ │ │ ├── can.c.obj.d │ │ │ │ │ ├── gpio.c.obj │ │ │ │ │ ├── gpio.c.obj.d │ │ │ │ │ ├── i2c.c.obj │ │ │ │ │ ├── i2c.c.obj.d │ │ │ │ │ ├── main.c.obj │ │ │ │ │ ├── main.c.obj.d │ │ │ │ │ ├── spi.c.obj │ │ │ │ │ ├── spi.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_msp.c.obj │ │ │ │ │ ├── stm32f1xx_hal_msp.c.obj.d │ │ │ │ │ ├── stm32f1xx_it.c.obj │ │ │ │ │ ├── stm32f1xx_it.c.obj.d │ │ │ │ │ ├── syscalls.c.obj │ │ │ │ │ ├── syscalls.c.obj.d │ │ │ │ │ ├── system_stm32f1xx.c.obj │ │ │ │ │ ├── system_stm32f1xx.c.obj.d │ │ │ │ │ ├── tim.c.obj │ │ │ │ │ ├── tim.c.obj.d │ │ │ │ │ ├── usart.c.obj │ │ │ │ │ └── usart.c.obj.d │ │ │ ├── DependInfo.cmake │ │ │ ├── Drivers │ │ │ │ └── STM32F1xx_HAL_Driver │ │ │ │ │ └── Src │ │ │ │ │ ├── stm32f1xx_hal.c.obj │ │ │ │ │ ├── stm32f1xx_hal.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_adc.c.obj │ │ │ │ │ ├── stm32f1xx_hal_adc.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_adc_ex.c.obj │ │ │ │ │ ├── stm32f1xx_hal_adc_ex.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_can.c.obj │ │ │ │ │ ├── stm32f1xx_hal_can.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_cortex.c.obj │ │ │ │ │ ├── stm32f1xx_hal_cortex.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_dma.c.obj │ │ │ │ │ ├── stm32f1xx_hal_dma.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_exti.c.obj │ │ │ │ │ ├── stm32f1xx_hal_exti.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_flash.c.obj │ │ │ │ │ ├── stm32f1xx_hal_flash.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_flash_ex.c.obj │ │ │ │ │ ├── stm32f1xx_hal_flash_ex.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_gpio.c.obj │ │ │ │ │ ├── stm32f1xx_hal_gpio.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_gpio_ex.c.obj │ │ │ │ │ ├── stm32f1xx_hal_gpio_ex.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_i2c.c.obj │ │ │ │ │ ├── stm32f1xx_hal_i2c.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_pwr.c.obj │ │ │ │ │ ├── stm32f1xx_hal_pwr.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_rcc.c.obj │ │ │ │ │ ├── stm32f1xx_hal_rcc.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_rcc_ex.c.obj │ │ │ │ │ ├── stm32f1xx_hal_rcc_ex.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_spi.c.obj │ │ │ │ │ ├── stm32f1xx_hal_spi.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_tim.c.obj │ │ │ │ │ ├── stm32f1xx_hal_tim.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_tim_ex.c.obj │ │ │ │ │ ├── stm32f1xx_hal_tim_ex.c.obj.d │ │ │ │ │ ├── stm32f1xx_hal_uart.c.obj │ │ │ │ │ └── stm32f1xx_hal_uart.c.obj.d │ │ │ ├── FOC │ │ │ │ ├── FOC.c.obj │ │ │ │ ├── FOC.c.obj.d │ │ │ │ ├── FOC_utils.c.obj │ │ │ │ ├── FOC_utils.c.obj.d │ │ │ │ └── hardware_specific │ │ │ │ │ ├── stm32_mcu.c.obj │ │ │ │ │ └── stm32_mcu.c.obj.d │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── compiler_depend.internal │ │ │ ├── compiler_depend.make │ │ │ ├── compiler_depend.ts │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ ├── retarget │ │ │ │ ├── retarget.c.obj │ │ │ │ └── retarget.c.obj.d │ │ │ ├── st7735 │ │ │ │ ├── fonts.c.obj │ │ │ │ ├── fonts.c.obj.d │ │ │ │ ├── st7735.c.obj │ │ │ │ └── st7735.c.obj.d │ │ │ └── startup │ │ │ │ └── startup_stm32f103xb.s.obj │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── clion-environment.txt │ │ ├── clion-log.txt │ │ ├── cmake.check_cache │ │ └── progress.marks │ ├── FOC_Driver.bin │ ├── FOC_Driver.elf │ ├── FOC_Driver.hex │ ├── FOC_Driver.map │ ├── Makefile │ ├── Testing │ │ └── Temporary │ │ │ └── LastTest.log │ └── cmake_install.cmake │ ├── retarget │ ├── retarget.c │ └── retarget.h │ ├── st7735 │ ├── fonts.c │ ├── fonts.h │ ├── image.h │ ├── st7735.c │ └── st7735.h │ └── startup │ └── startup_stm32f103xb.s └── 无刷直流电机矢量控制驱动器开发记录.md /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Aiano/FOC/HEAD/.gitmodules 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