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关于TI sensorless FOC PMSM的疑问

Other Parts Discussed in Thread: CONTROLSUITE

我正在考量利用TI  sensorless FOC PMSM开发项目可行性,有几个疑问:

1)foc enhenced sensorless与foc sensorless区别是什么?

2)eSMO模块有pdf吗?

3)我需要付出多大的代价得到HFI/IPD library?