Controllers

The generic EUC controller electronic board is mainly composed of:

Microcontroller STM32F103 - is "the brain" of the system
BLDC controller - include 6 power mosfets and all the circuitry to control them; hall sensors circuit; BEMF circuit; current measurement
IMU MPU6050 - the accelerometer and gyroscope
Buzzer
LEDs - for indicating the battery status

Picture of a EUC controller electronic board:

Pictures of electrical signals

Seems there are 2 different ways to control the motor - one for low speed up to medium speed and other for higher speed.

Yellow: phase 1, blue: hall sensor signal. Low speed:

Yellow: phase 1, blue: hall sensor signal. High speed:

When the wheel is stopped, the duty-cycle is 50%, the signals are in phase for the 3 phases and the frequency is 15.6khz.

Yellow: phase 1, blue: phase 2. Motor stopped:

The motor rotates to left if duty-cycle lower than 50% and rotates to right if is higher.

Yellow: phase 1, blue: phase 2. Wheel rotating left:

Yellow: phase 1, blue: phase 2. Wheel rotating right:

Hall sensors signals:

Phase 1 and hall sensors signals:

Please see MicroWorks 18m/h controller board page were we are documenting the technical details.