Add hybrid ADRC+MPCC sim + Gen6 hardware demo (compare FOC/ADRC) - #40

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saeed95-lab wants to merge 41 commits into

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saeed95-lab:feature/hybrid-adrc-mpcc-sim

Commits on Jul 31, 2026

Add host FCS-MPCC simulation and control.mpcc node for three-phase PMSM.
saeed95-lab
committed
df66128
Add hardware MPCC demo graph and fix config node loading
datacrystals
committed
afb087d
Rename control.mpcc to Control.Mpcc for namespace consistency
datacrystals
committed
92f73dc
Add MPCC 100% duty cycle stuck telemetry screenshot
datacrystals
committed
ad6655c
Fix Gen6 MPCC zero-vector lock with Mode 3 deadbeat + SVPWM.
saeed95-lab
committed
20bd327
Fix MPCC idle at 50% duty: enable/Iq ref path and stronger Mode 3.
saeed95-lab
committed
c9b0554
Add MPCC issue telemetry screenshot
datacrystals
committed
7fdf4f2
Merge branch 'feature/fcs-mpcc-three-phase-pmsm' of https://github.com/saeed95-lab/RTE into feature/fcs-mpcc-three-phase-pmsm
datacrystals
committed
2946127
Fix MPCC θe freeze from config wipe on control start.
saeed95-lab
committed
6b552a4
Add new MPCC issue telemetry screenshot
datacrystals
committed
5a0ea20
Detune Mode 3 MPCC to stop Gen6 shaft vibration.
saeed95-lab
committed
0d58cdd
Merge remote-tracking branch 'origin/main' into feature/fcs-mpcc-three-phase-pmsm
datacrystals
committed
56f9d64
Merge branch 'feature/fcs-mpcc-three-phase-pmsm' of https://github.com/saeed95-lab/RTE into feature/fcs-mpcc-three-phase-pmsm
datacrystals
committed
8b87b6c
Add new issue screenshot and runtime telemetry capture
datacrystals
committed
5619fac
Fix MPCC 50% duty lock from zero FRAM L and frozen θe.
saeed95-lab
committed
94292e5
Fix RTEFirmwareBuilder emitter discovery on macOS.
saeed95-lab
committed
0cd317c
Add issue 3 screenshot and runtime telemetry capture
datacrystals
committed
fb68dff
Tame MPCC cogging and overcurrent on Gen6 spin-up.
saeed95-lab
committed
bbf5e23
Add runtime telemetry captures; fix generated code missing cstring/cmath includes
datacrystals
committed
9ca7889
Restore MPCC torque authority and stop OC chatter at IqVar=10.
saeed95-lab
committed
173f2bc
New session log, still brokne
datacrystals
committed
a8c733d
Soften Mode 3 bring-up and stop wiping encoder Sign=-1.

saeedamooei
and
cursoragent
committed
bbd68ff
New session log, still broken2?
datacrystals
committed
9f916eb
Restore Mode 3 voltage authority so Gen6 can produce torque.

saeedamooei
and
cursoragent
committed
2c527a3
Merge remote-tracking branch 'origin/main' into feature/fcs-mpcc-three-phase-pmsm
datacrystals
committed
cffa660
Merge branch 'feature/fcs-mpcc-three-phase-pmsm' of https://github.com/saeed95-lab/RTE into feature/fcs-mpcc-three-phase-pmsm
datacrystals
committed
4ed0536
new error log
datacrystals
committed
182bb19
Force encoder Sign=-1 and restore deadbeat Mode 3 torque.

saeedamooei
and
cursoragent
committed
5e99395
Port phase-current polarity fix from main (InvertPolarity=1 in mpcc_demo)
datacrystals
committed
77802f4
Fix Mode 3 MPCC so Gen6 can spin like FOC.

Saeed Aliamooei Lakeh
and
cursoragent
committed
5bf901a
Add runtime telemetry: Gen6 MPCC spin, runs relatively well
datacrystals
committed
b4e535c
Fix foc_demo build: add missing InvertPolarity param on Currents node
datacrystals
committed
eae3815
Add runtime telemetry session 20260731-150900
datacrystals
committed
90feaa3
Raise Mode 3 speed headroom to match FOC-class RPM.

Saeed Aliamooei Lakeh
and
cursoragent
committed
baf23ea
Mpcc does 200A now!
datacrystals
committed
7e2a1a3

Commits on Aug 2, 2026

Add Gen6 FOC vs MPC simulation study on a dedicated branch.

authored and
Saeed Aliamooei Lakeh
committed
143b596
Tune Mode-3 MPCC for smooth Gen6 spin at mid bus voltage.

Saeed Aliamooei Lakeh
and
cursoragent
committed
64a87dd
Remove hidden Vdc Iq clamp that capped q-current near 5 A.

Saeed Aliamooei Lakeh
and
cursoragent
committed
e733099
Raise I_Max to 40 A and harden Mode-3 against noise and voltage limit.

Saeed Aliamooei Lakeh
and
cursoragent
committed
85eb6ea

Commits on Aug 4, 2026

Add standalone hybrid ADRC+MPC current-loop simulation package.

saeedamooei
and
cursoragent
committed
b372d90
Add Gen6 hardware hybrid ADRC+MPCC demo for FOC/ADRC comparison.

saeedamooei
and
cursoragent
committed
fff4ce7