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@ -40,31 +40,31 @@ You can use it as a sandbox to play with Writerside features, and remove it from
#### clack变换
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/Clarke%E5%8F%98%E6%8D%A2.png)
![image](电流环.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/%E7%94%B5%E6%B5%81%E7%8E%AF.png)
本项目暂时使用的是SPWM调制的正弦波，想要提高效率请使用SVPWM调制马鞍波形（效率可以提高15%）。
![image](坐标变换.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/%E5%9D%90%E6%A0%87%E5%8F%98%E6%8D%A2.png)
1，把基变换将其正交化为一个直角坐标系，把三相电流波形的相位变化变成二轴坐标系中α和β矢量长短变化。
![image](正弦与余弦.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/%E6%AD%A3%E5%BC%A6%E4%B8%8E%E4%BD%99%E5%BC%A6.png)
2，三角函数投影计算过程
![image](三角函数投影.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/%E4%B8%89%E8%A7%92%E5%87%BD%E6%95%B0%E6%8A%95%E5%BD%B1.png)
三角函数复习：
![image](三角函数复习资料.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/%E4%B8%89%E8%A7%92%E5%87%BD%E6%95%B0%E5%A4%8D%E4%B9%A0%E8%B5%84%E6%96%99.png)
摘自：[](https://www.cnblogs.com/sunsky303/p/17248071.html)
![image](Clarke变换.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/Clarke%E5%8F%98%E6%8D%A2.png)
3，Clarke变换写成矩阵形式
![image](Clarke变换写成矩阵形式.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/Clarke%E5%8F%98%E6%8D%A2%E5%86%99%E6%88%90%E7%9F%A9%E9%98%B5%E5%BD%A2%E5%BC%8F.png)
4，此为变换后的波形对比图
@ -77,17 +77,17 @@ You can use it as a sandbox to play with Writerside features, and remove it from
1，让转子旋转起来！
![image](旋转二维坐标系.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/%E6%97%8B%E8%BD%AC%E4%BA%8C%E7%BB%B4%E5%9D%90%E6%A0%87%E7%B3%BB.png)
![image](旋转的坐标系映射.png)
2，写成矩阵形式：
![image](Park变换矩阵描述形式.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/Park%E5%8F%98%E6%8D%A2%E7%9F%A9%E9%98%B5%E6%8F%8F%E8%BF%B0%E5%BD%A2%E5%BC%8F.png)
3，Park变换前后波形对比，已经可以从设置正弦波变为设置Iq 和 Id了。
![image](Park变换前后波形对比.png)
![image](https://github.com/michaelchemic/STM32G4-DRV8301-FOC/blob/main/Readme/Writerside/images/Park%E5%8F%98%E6%8D%A2%E5%89%8D%E5%90%8E%E6%B3%A2%E5%BD%A2%E5%AF%B9%E6%AF%94.png)
4，Iq代表了期望的力矩输出， Id不需要的，我们希望尽可能把它控制为0。