Merge branch 'main' of https://git.etud.insa-toulouse.fr/taban/PIR_MadMax

ajout section remerciements. Ajout partie FOC + Results. Ajout Perspectives and Future Work

Article_Scientifique/main.tex

@@ -214,13 +214,14 @@ PID-based (Proportional-Integral-Derivative) control strategy combined with dist
 assistance based on system dynamics.
 
 
-% ***************************** Hardware-Based Six-Step Commutation Controller  ****************************************
+% ************************************** LOW TECH SIX STEP CONTROL ***************************************************** 
+
 
 \section{Hardware-Based Six-Step Commutation Controller}
 \label{sec:sixstep}
 
 
-% ***************************** STM32-Based Field-Oriented Control Motor Drive *****************************************
+% ************************************** FIELD ORIENTED CONTROL ***************************************************** 
 
 \section{STM32-Based Field-Oriented Control Motor Drive}
 \label{sec:foc}
@@ -363,6 +364,7 @@ assistance based on system dynamics.
 	development. Once routing is completed, the board will be manufactured 
 	and tested with the VESC firmware adapted to the L476 tile.
 
+
 % ************************************** SOFTWARE AND CONNECTIVITY ***************************************************** 
 
 \section{Software and Connectivity}
@@ -446,8 +448,8 @@ for the the MAD associates.
 
 % ************************************ DYNAMIC MODELLING ***************************************************************
 
-
 \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 
@@ -612,6 +614,33 @@ However, due to the absence of direct velocity measurements during the experimen
 be extracted from these tests. Consequently, a precise estimation of dynamic friction parameters and energy efficiency 
 could not be achieved.
 
+\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}
+
 
 % ******************************** DISCUSSION **************************************************************************
 
@@ -652,6 +681,7 @@ impose a tripping hazard. There, an encapsulation of an encrypted control frame
 Based on the results obtained and the limitations identified during this 
 project, several directions for future work are proposed.
 	
+>>>>>>> 9c1f96ca2cf4e79662cccb061b48216d25c523c2
 \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 
@@ -677,6 +707,7 @@ operating conditions (varying loads, road profiles, and battery voltage).
 %quantities and units. For example, write ``Temperature (K)'', not 
 %``Temperature/K''.
 
+
 % ******************************** REMERCIEMENTS ************************************************************************** 
 
 \section*{Acknowledgment}