Tony Stark
/
BLDC_V2_JYB
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Dependencies: mbed-dev-f303 FastPWM3
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current_controller_config.h
00001 #ifndef CURRENT_CONTROLLER_CONFIG_H 00002 #define CURRENT_CONTROLLER_CONFIG_H 00003 00004 // Current controller/// 00005 #define K_D .05f // Loop gain, Volts/Amp 00006 #define K_Q .05f // Loop gain, Volts/Amp 00007 //#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 00008 #define K_SCALE 0.00165f 00009 // #define K_SCALE 0.0008 00010 //#define K_SCALE 0.0004 00011 #define KI_D 0.0255f // PI zero, in radians per sample 00012 #define KI_Q 0.0255f // PI zero, in radians per sample 00013 #define V_BUS 24.0f // Volts 00014 #define OVERMODULATION 1.2f // 1.0 = no overmodulation 00015 00016 #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples 00017 #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples 00018 00019 #define I_MAX 40.0f 00020 00021 //Observer// 00022 #define DT 0.000025f 00023 #define K_O 0.02f 00024 00025 00026 00027 00028 #endif
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