 Děkuju jsme závodovat o mnohem motorkontrolního librerého. Co je mnohem motorkontrolního librerého? Nám je stm32, když je závodovat na plátformu motorkontrol sdk. A tady je version 4.2. Vždyš, že jsem vytvořil na version 4.3. Co je na závodovat? Závodovat na naše našho na závodovat na plátformu motorkontrolního librerého. MCSDK je vytvořil na tohle librerého. Co je na závodovat? Je to na závodovat na focí librerého a je to některé grafické interfejsy s výzoutem. A do nás je se vytvořit všeho toho závodovat. Vytvořit všeho nohy první magnetí motory, synchrony návodovat, 3-phase motory. A to je o závodovat na plátformu motorkontrolního librerého. Jsou potom s návodovat dávodovat s tím závodovat na plátformu můžeme závodovat na plátformu motorkontrolního librerého. a nějaké grafice, které je nějaké pc aplikace, které je motorkontrolní vědět, když se vidíte. To je všechno tímhle, za mnohy než 16 rovů. Zvukáváme v 2002 s velkými velkými velkými velkými velkými velkými velkými. Jednostké velkémi velkémi velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velkými velký Nájštý implementář nebo dronů. Jedný děláč kontána nebo 8 mpusů. To je velmi komplex dronů s stavilizací kamerávů, mnohy propilů, etc. Málo nějaké klasifikace o motorů, o elektrické motorů a mnohy brášet motoru universalu. Máme fokus na ac motorů a mnohy je a synchronový motor, který máme already touch. A for synchronový motor je our FOC library. Máme also some software examples for 6-step control. To je to nejlepší FOC, ale mnohy jsme already seen that we want to integrate both at the end in one tool and provide to customer a big tool and make a decision if they want to use field oriented or 6-step with benefits of age. That's our goal. Maybe one comment about the stepper motors, st solution about the stepper motors is based on integrated drivers. That's quite of our slope because we are based on microcontrollers and it's not running on anything there. There is only some communication, usually serial communication, which sends some commands and the driver runs the motor. That's the solution of ST for stepper motors. Then again some small review that from the lower powerful micro we start with some scalar control. Then we can switch to the FOC with some restriction that some HFI, which is for observing the position of motor in the steady state, required some fast calculation and for that it's not possible to use the lowest micro. Lowest micro is one STM32, really 100, which is running only on 24 MHz, F0, which is on the lower core, but it's running on double frequency, it's a bit more powerful. Then some additional F1 family, which higher speed of clock or additional F3 etc. We have quite focus for F3 family because F3 family contains also up to 3 motor control timers or advanced timers and also contains some analog part, for example comparator, operating amplifiers etc. That's good to know that there is dedicated hardware. Ježí will have part some slides about this part. OK, then it's some comparison between FOC and previous one or that's from the history 6 step and you see 6 step has 6 periodic part during one round and FOC or in some cases name sinusoidal control has some, that's look like without step, but still we have some task and we control it many times during the cycle. What is the benefit of vector control? It's some better efficiency because we apply every time, every calculated cycle, we apply the proper angle for the spinning and for that at the end we have sinusoidal control which not generate some higher harmonics and for that it's less acoustic noise generated. Then also the dynamic due to control loop which is running that every cycle and next step and if we return through the feedback that motor slow down that we can react faster than in the 6 step that we have only 6 times for the control. That's again comparison between these two kinds. You see the naming PMSM permanent magnet synchronous motor sometimes it's a machine and BLDC permanent magnet brushless DC motor. You see that it's quite the same almost both has three phase connection usually in the star configuration but some small difference is there that usually if we say brushless DC motor usually thinking about this kind which is more for the electric commutation and for that producers of motors make the construction of motor quite different. Permanent magnet synchronous machine mean that the back EMF it's look like sinusoidal and in the other one it's quite different to be able to provide much better efficiency and destroy the shape of sinus to do some trapeze and it is better for the control with the commutation in the 6 steps. That's different one description that we have a possibility to have surface mounted and or internal mounted with different inductance and resistance that the differences in permanent magnet motor you will see in the real hands on how we can measure it and rest of these two motor is similar both generate some back EMF both have to be controlled. Our library for PMSM motor can drive also the trapezoidal motor with one disadvantage the low speed that if you generate very slow sinusoidal signal then the motor with trapezoidal back EMF not continuously spin due to the construction but if you spin very fast then it's possible use it and generate.