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\section{Related Work} +\label{sec:relatedwork} \subsection{Modeling of BLDC Motor} The electromechanical model of a BLDC (Brushless DC) motor is foundational for understanding its behavior under different control @@ -206,19 +208,160 @@ Third, the security of the wireless communication interface is investigated, wit vulnerabilities. A Flipper Zero device is used as a diagnostic tool to evaluate potential attack surfaces and identify weaknesses in the communication layer. -Finally, a dynamic model of the bicycle–cargo system is developed to improve rider experience. +Finally, a dynamic model of the bicycle-cargo system is developed to improve rider experience. The objective is to minimize the perceived additional effort when towing a cargo cart. This is achieved through a -PID-based (Proportional–Integral–Derivative) control strategy combined with distance sensing, allowing adaptive +PID-based (Proportional-Integral-Derivative) control strategy combined with distance sensing, allowing adaptive assistance based on system dynamics. + % ***************************** Hardware-Based Six-Step Commutation Controller **************************************** \section{Hardware-Based Six-Step Commutation Controller} +\label{sec:sixstep} + % ***************************** STM32-Based Field-Oriented Control Motor Drive ***************************************** \section{STM32-Based Field-Oriented Control Motor Drive} - +\label{sec:foc} + + This section presents the design and implementation of a high-performance + motor controller based on Field-Oriented Control (FOC). + + \subsection{Choice of FOC Over Trapezoidal Commutation} + + Table~\ref{tab:foc_vs_trap} summarizes the key differences between the + two commutation strategies, based on the literature reviewed in + Section~\ref{sec:relatedwork}. + + \begin{table}[htbp] + \caption{Comparison between FOC and trapezoidal (six-step) commutation} + \label{tab:foc_vs_trap} + \centering + \begin{tabular}{lcc} + \toprule + \textbf{Criterion} & \textbf{FOC} & \textbf{Six-Step} \\ + \midrule + Torque ripple (at 500 rpm) & \SI{18.4}{\percent} & \SI{35.7}{\percent} \\ + Low-load efficiency & High & Moderate \\ + High-speed switching loss & Higher & Lower \\ + Position sensor requirement & Encoder (high resolution) & Hall sensors \\ + Implementation complexity & High & Low \\ + Hardware cost & Higher & Lower \\ + Dynamic response & Fast & Standard \\ + \bottomrule + \end{tabular} + \end{table} + + For our cargo bike application, rider comfort and smooth torque delivery + are priorities. FOC was therefore selected for the high-performance + controller, while a separate low-tech six-step board (Section~\ref{sec:sixstep}) + was developed for repairability. + + \subsection{Base Design: Cheap FOCer-2 Project} + + The starting point was the open-source \textit{Cheap FOCer-2} project, + which provides a complete KiCad design for a VESC-compatible board based + on an STM32F405 microcontroller. This design includes: + \begin{itemize} + \item A three-phase MOSFET full-bridge power stage. + \item Gate drivers with built-in dead-time insertion. + \item Shunt resistors for phase current sensing. + \item USB and CAN interfaces. + \item An expansion header for encoder or Hall sensors. + \end{itemize} + + The existing KiCad schematic and layout were used as the baseline for + our adaptations. + + \subsection{Integration of the Rocacher FOC Tile} + + Mr. Rocacher provided the Kicad schematic of a ready-to-use FOC tile based on an STM32L476 + microcontroller. + + The initial idea was to make this tile \textit{pluggable} into our + carrier board, similar to an Arduino shield. This would allow : + \begin{itemize} + \item Easy replacement of the computing core without re-soldering. + \item Modular upgrades of the microcontroller. + \item Simplified repair and maintenance. + \end{itemize} + + However, the Cheap FOCer-2 project was not designed for such modularity. + Its routing is dense and highly optimized for a single, non-removable + F405 chip. Adapting it to accept an L476 tile while preserving all + critical functions (PWM, current sensing, USB communication) proved + challenging. + + \subsection{Pin Compatibility Verification: L476 vs F405} + + Before modifying the PCB, a thorough pin compatibility check was + performed between the STM32L476 and the STM32F405 + (original Cheap FOCer-2 design). The following aspects were examined: + \begin{itemize} + \item Physical pinout in LQFP64 package. + \item Alternate functions for PWM timers. + \item USB DP/DM pins (PA11/PA12). + \item Analog inputs for current sensing. + \item UART for BLE communication. + \end{itemize} + + Three pin conflicts were identified and resolved as follows. + + First, the SPI\_MISO function on PA6 for the STM32F405 conflicts with a + DAC output on the same pin for the STM32L476 tile. Since this pin is + used for current sensing via SPI in the original Cheap FOCer-2 design, + the SPI communication was remapped to PA5 on the L476, which provides a + compatible alternate function. + + Second, the gate driver enable signal (EN\_GATE) was originally assigned + to PB5 on the F405. This pin is not accessible on the L476 + tile. The signal was therefore moved to PC5, which is available and + can be configured as a standard GPIO output. + + Third, Hall sensor C was originally connected to PC8 (TIM8) on the F405. + This pin is not available on the L476 tile. The Hall sensor input was + therefore reassigned to PB3, configured as TIM2\_CH2, which provides + the necessary input capture functionality for Hall signal decoding. + + All other critical functions (PWM timers, complementary PWM, enable + signals, encoder inputs, UART, USB, and CAN) remain fully compatible + between the two microcontrollers. The ADC channel differences between + the F405 (ADC123/ADC12) and the L476 (ADC3) must still be handled in + firmware, as noted previously. + + \subsection{Schematic Design and KiCad Implementation} + + The original Cheap FOCer-2 schematic was modified in KiCad to replace the + integrated F405 with connectors for the L476 tile. The main modifications + included: + \begin{itemize} + \item Removal of the F405 and its associated passive components. + \item Addition of two 20-pin headers to receive the Rocacher tile. + \item Re-routing of PWM, ADC, and USB signals to the headers. + \end{itemize} + + The schematic passed Electrical Rule Check (ERC) with no errors. + + \subsection{Routing Challenges and Current Status} + + The PCB layout was then started. The original Cheap FOCer-2 routing is + very dense. Inserting connectors for the removable tile while maintaining signal integrity proved + difficult. + + The main issues encountered were: + \begin{itemize} + \item Some footprints for the tile connectors did not appear correctly + in the layout after schematic import. + \item Routing of high-current paths (battery, motor phases) around the + connectors required additional vias, increasing resistance. + \item Decoupling capacitors had to be repositioned, raising concerns + about switching noise. + \end{itemize} + + Currently, the schematic is validated, and the layout is under + development. Once routing is completed, the board will be manufactured + and tested with the VESC firmware adapted to the L476 tile. % ************************************** SOFTWARE AND CONNECTIVITY ***************************************************** @@ -304,8 +447,7 @@ for the the MAD associates. % ************************************ DYNAMIC MODELLING *************************************************************** -\section{Dynamic Modelling and Control of the Bicycle–Cargo System} - +\section{Dynamic Modelling and Control of the Bicycle-Cargo System} \subsection{Dynamic System Modelling} The studied system consists of a bicycle towing a cargo cart through a rigid mechanical linkage. This link is only used @@ -376,7 +518,7 @@ where $e_{\text{ref}} = \SI{-0.5}{\meter}$ represents the desired equilibrium of \centering \includegraphics[width=\linewidth]{./Figures/sys_dyn_matlab.png} - \caption{Closed-loop model of the bicycle–cargo system with PI control.} + \caption{Closed-loop model of the bicycle-cargo system with PI control.} \label{fig:simulink-closedloop} \end{figure} @@ -390,6 +532,33 @@ where $e_{\text{ref}} = \SI{-0.5}{\meter}$ represents the desired equilibrium of \section{Results} +\subsection{FOC Controller Validation} + + \subsubsection{Current Status Summary} + + Table~\ref{tab:foc_status} summarizes the current status of the FOC + controller development. + + \begin{table}[htbp] + \caption{FOC controller development status} + \label{tab:foc_status} + \centering + \begin{tabular}{l c} + \toprule + \textbf{Task} & \textbf{Status} \\ + \midrule + VESC firmware compilation & Completed \\ + Pin compatibility (F405 / L476) & Completed \\ + Schematic design (KiCad) & Completed \\ + ERC validation & Completed \\ + PCB routing & In progress \\ + Tile footprint correction & In progress \\ + Board manufacturing & Planned \\ + Hardware testing & Planned \\ + \bottomrule + \end{tabular} + \end{table} + \subsection{Bicycle-Cargo System Control Results} \subsubsection{Simulation Results} @@ -476,6 +645,19 @@ What should be a clear conclusion from our test with the jammer is that a contro avoided when possible and practical. Examples where this could be relevant include electric skateboards, as cables could impose a tripping hazard. There, an encapsulation of an encrypted control frame could be an thought. +% ******************************** Perspectives and Future Work ************************************************************ + +\section{Perspectives and Future Work} + +Based on the results obtained and the limitations identified during this +project, several directions for future work are proposed. + +\subsection{Hardware Completion and Testing} +The VESC-based FOC PCB requires routing completion and prototype +manufacturing. Once fabricated, the board must be tested under real +operating conditions (varying loads, road profiles, and battery voltage). + +% ******************************** CONCLUSION ************************************************************************** \section{Conclusion/Summary} @@ -495,8 +677,29 @@ impose a tripping hazard. There, an encapsulation of an encrypted control frame %quantities and units. For example, write ``Temperature (K)'', not %``Temperature/K''. +% ******************************** REMERCIEMENTS ************************************************************************** + \section*{Acknowledgment} +The authors would like to thank Pascal Acco and Thierry Rocacher for their +continuous technical guidance and support throughout this project. Their +expertise in power electronics, embedded systems, and PCB design was +invaluable. + +We also thank La Manufacture Autonome Décentralisée (LaMAD) for providing +the use case, the technical requirements, and the cargo bike platform used +for validation. + +Finally, we acknowledge the INSA Toulouse GEI department for providing +access to laboratory facilities, measurement equipment, and the necessary +components for prototyping. + +This work was carried out as part of the 4th-year research project (PIR) +at INSA Toulouse. + +% ******************************** IA ************************************************************************** +\section*{Statement on AI Usage} + The authors acknowledge the use of generative AI tools during this project, both for the development work and for writing this paper. 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\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Measured motor current under three loading conditions.}}{6}{figure.3}\protected@file@percent } \newlabel{fig:motor-currents}{{3}{6}{Measured motor current under three loading conditions}{figure.3}{}} \@writefile{toc}{\contentsline {section}{\numberline {X}Discussion}{6}{section.10}\protected@file@percent } -\@writefile{toc}{\contentsline {section}{\numberline {XI}Perspectives and Future Work}{6}{section.11}\protected@file@percent } \bibstyle{IEEEtran} \bibdata{PIR_MadMax3} \bibcite{patil_analysis_2025}{1} @@ -106,6 +105,7 @@ \bibcite{lee_advanced_2001}{8} \bibcite{b1}{9} \bibcite{b2}{10} +\@writefile{toc}{\contentsline {section}{\numberline {XI}Perspectives and Future Work}{7}{section.11}\protected@file@percent } \@writefile{toc}{\contentsline {subsection}{\numberline {\mbox {XI-A}}Hardware Completion and Testing}{7}{subsection.11.1}\protected@file@percent } \@writefile{toc}{\contentsline {section}{\numberline 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