Hello community, i’m new around here, i’m new to arduino, although plenty experience with AVR 8bit uC in AVRSutio and 32bit uC’s STM32 in STMCubeIDE, and high power hardware .

So i request you to please point me thru SimpleFOC repository file names where i can find the code responsible for transformations from A B C currents → clark → park → angle , d q PID → inverse park → inverse clark → SVPWM, i need to find the entire algorithm head to tail, i need to undestand a few things regarding angle and type of transformations, because on the web (MATLAB) i found two types of transformations, d aligned to alpha and q aligned to alpha

The thing is, i’m trying to make my own FOC on STM32, i took inspiration from several sources, including simple foc, and i found this FOC Algorithm | Arduino-FOC

but i’m missing some information and i can not find it on github (new to that also).

I also read and watched lost of tutorials, but i’m still missing something.

So far i managed to get it (code) working to some degree, i used the sensorless method with flux observer from MESC (David Molony), but something is not wright regarding angle phase shift and D and Q parametrization.

Problem is that:

1 if i do D aligned to alpha clark and park i get small amount iD, and iQ positive/ negative depending on rotation direction controls speed but has almost no toque (o can stop the motor just by touching the rotor) , with angle provided by the flux observer witch is 90 phase shifted(by the integral).

2 if i do Q aligned to alpha clark and park i get small amount iD positive/ negative depending on rotation direction randomly, and iQ only negative controls torque and speed (i can load the motor heavily) , with angle provided by the flux observer witch is 90 phase shifted(by the integral).

Neither way does not work wright, 1 can control spin direction but does not have torque, 2 can not controll the spin direction (starts randomly CW/CCW) but has torque.

So i’m verry confused by the two versions of transformation.

A look on simple FOC code to see the workflow head to tail of all transformations i believe will clear some things out.

Any points and hints and pointing will be greatly appreciated,

thank you,

Mihai.