All algorithms have been written in the C language using IAR's embedded workbench and AVR Studio as development tools. For the space vector PWM algorithm, a table of the rounded values of for k between 0 and 80 is used. The length of this table (81 bytes) is a better trade-off between the size of the available internal memory and the quantification of the rotor shaft speed. For bi-directional speed control, the values stored in two of the comparators are interchanged when the output of the PI regulator is a negative number Figure 8.
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