V1.0 硬件文档与软件算法部分初稿

Readme/Writerside/c.list

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+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE categories
+        SYSTEM "https://resources.jetbrains.com/writerside/1.0/categories.dtd">
+<categories>
+    <category id="wrs" name="Writerside documentation" order="1"/>
+</categories>

Readme/Writerside/cfg/buildprofiles.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<buildprofiles xsi:noNamespaceSchemaLocation="https://resources.jetbrains.com/writerside/1.0/build-profiles.xsd"
+               xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+
+    <variables></variables>
+    <build-profile instance="in">
+        <variables>
+            <noindex-content>true</noindex-content>
+        </variables>
+    </build-profile>
+
+</buildprofiles>

Readme/Writerside/redirection-rules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE rules SYSTEM "https://resources.jetbrains.com/writerside/1.0/redirection-rules.dtd">
+<rules>
+    <!-- format is as follows
+    <rule id="<unique id>">
+        <accepts>page.html</accepts>
+    </rule>
+    -->
+    <rule id="28b0b272">
+        <description>Created after removal of "How to" from Instance Name</description>
+        <accepts>How-to.html</accepts>
+    </rule>
+    <rule id="758dd829">
+        <description>Created after removal of "原理图篇" from Instance Name</description>
+        <accepts>原理图篇.html</accepts>
+    </rule>
+    <rule id="5f651e36">
+        <description>Created after removal of "原理图设计" from Instance Name</description>
+        <accepts>原理图设计.html</accepts>
+    </rule>
+    <rule id="6c3b7c1a">
+        <description>Created after removal of "性能对比" from Instance Name</description>
+        <accepts>性能与价格对比.html</accepts>
+    </rule>
+    <rule id="65e9edd8">
+        <description>Created after removal of "RK3399原理图设计" from Instance Name</description>
+        <accepts>RK3399原理图设计.html</accepts>
+    </rule>
+    <rule id="56996748">
+        <description>Created after removal of "电源系统及推荐上电顺序" from Instance Name</description>
+        <accepts>电源系统及推荐上电顺序.html</accepts>
+    </rule>
+    <rule id="4d70817e">
+        <description>Created after removal of "DDR控制器" from Instance Name</description>
+        <accepts>DDR控制器.html</accepts>
+    </rule>
+    <rule id="22da0e68">
+        <description>Created after removal of "eMMC控制器" from Instance Name</description>
+        <accepts>eMMC控制器.html</accepts>
+    </rule>
+    <rule id="7770b9d9">
+        <description>Created after removal of "原理图文件结构" from Instance Name</description>
+        <accepts>文件结构.html</accepts>
+    </rule>
+    <rule id="4edcd90a">
+        <description>Created after removal of "原理图封装绘制" from Instance Name</description>
+        <accepts>原理图封装绘制.html</accepts>
+    </rule>
+    <rule id="d1b4c02">
+        <description>Created after removal of "原理图DRC检查" from Instance Name</description>
+        <accepts>原理图DRC检查.html</accepts>
+    </rule>
+    <rule id="31bd30f0">
+        <description>Created after removal of "PCB设计" from Instance Name</description>
+        <accepts>PCB设计.html</accepts>
+    </rule>
+    <rule id="17c459c2">
+        <description>Created after removal of "PCB封装库设置" from Instance Name</description>
+        <accepts>PCB封装库.html</accepts>
+    </rule>
+    <rule id="716e56c3">
+        <description>Created after removal of "PCB导入网表" from Instance Name</description>
+        <accepts>PCB导入网表.html</accepts>
+    </rule>
+    <rule id="21e94be6">
+        <description>Created after removal of "《基于Cadance17.4 RK3399原理图PCB设计》" from Instance Name</description>
+        <accepts>starter.html</accepts>
+    </rule>
+    <rule id="28a04047">
+        <description>Created after removal of "Starter" from Instance Name</description>
+        <accepts>topics_starter.html</accepts>
+    </rule>
+</rules>

Readme/Writerside/topics/Writerside/topics/Writerside_topics_starter.md

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+# ReadMe
+
+<!--Writerside adds this topic when you create a new documentation project.
+You can use it as a sandbox to play with Writerside features, and remove it from the TOC when you don't need it anymore.-->
+
+## About this document
+此文档将会详细解析软件上各个模块功能，FOC控制原理，硬件电路相关内容。
+
+## 第一章 硬件部分（Hardware）
+### 使用的硬件设备
+该项目使用 ST公司生产的 STM32G474RE-Nucleo-64 评估板，TI 生产的 BOOSTXL-DRV8301 电机驱动板为主要开发套件。
+
+![](STM32G474-Nucleo.png)
+
+相关资料请访问：
+[](https://www.st.com/en/evaluation-tools/nucleo-g474re.html)
+（ST的开发板在接口和设计上是深入思考后的产品，在开发中节约了很多时间）
+
+![](TI DRV8301.png)
+
+相关资料请访问：
+[](https://www.ti.com.cn/tool/cn/BOOSTXL-DRV8301)
+
+* 由于这是一个前期验证的项目，硬件电路就先使用杜邦线连接了，后期完善后将会重新设计一块PCB。
+
+### MCU 管脚分配
+
+此项目使用了ST的cubeMX进行硬件上面的管脚分配，cubemx使用起来十分方便，强烈推荐。
+
+![stm32cubemx](st cubeMX.png)
+
+### 接线图与实物图
+<!--todo 需要增加实物接线图-->
+
+## 第二章 软件部分
+
+### FOC算法（FOC algorithm）
+
+![FOC计算过程.png](FOC计算过程.png)
+
+#### clack变换
+![foc控制流程图.png](foc控制流程图.png)
+
+![电流环.png](电流环.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%）。
+
+![坐标变换.png](坐标变换.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。
+
+![正弦与余弦.png](正弦与余弦.png)
+
+2，三角函数投影计算过程
+
+![三角函数投影.png](三角函数投影.png)
+
+三角函数复习：
+
+![三角函数复习资料.png](三角函数复习资料.png)
+
+![Clarke变换.png](Clarke变换.png)
+
+3，Clarke变换写成矩阵形式
+
+![Clarke变换写成矩阵形式.png](Clarke变换写成矩阵形式.png)
+
+4，此为变换后的波形对比图
+
+![clarke 变换生成的波形与原波形一致.png](clarke 变换生成的波形与原波形一致.png)
+
+参考资料：
+[](https://zhuanlan.zhihu.com/p/147659820)
+
+#### Park变换（将变量线性化）
+
+1，让转子旋转起来！
+
+![旋转二维坐标系.png](旋转二维坐标系.png)
+
+![旋转的坐标系映射.png](旋转的坐标系映射.png)
+
+2，写成矩阵形式：
+
+![Park变换矩阵描述形式.png](Park变换矩阵描述形式.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。
+
+![Park变换前后波形对比.png](Park变换前后波形对比.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。
+

Readme/Writerside/v.list

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE vars SYSTEM "https://resources.jetbrains.com/writerside/1.0/vars.dtd">
+<vars>
+    <var name="product" value="Writerside"/>
+</vars>

Readme/Writerside/writerside.cfg

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+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE ihp SYSTEM "https://resources.jetbrains.com/writerside/1.0/ihp.dtd">
+
+<ihp version="2.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+     xsi:noNamespaceSchemaLocation="https://resources.jetbrains.com/writerside/1.0/writerside-cfg.xsd">
+    <topics dir="topics"/>
+    <images dir="images" web-path="images"/>
+    <categories src="c.list"/>
+    <vars src="v.list"/>
+    <instance src="in.tree"/>
+</ihp>