bldc driver firmware based on hobbyking cheetah compact
Dependencies: BLDC_V2 mbed-dev-f303 FastPWM3
Config/current_controller_config.h@48:a74e401a6d84, 2021-04-07 (annotated)
- Committer:
- Wooden
- Date:
- Wed Apr 07 10:12:43 2021 +0000
- Revision:
- 48:a74e401a6d84
- Parent:
- 47:f4ecf3e0576a
wooden_bldc_test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 20:bf9ea5125d52 | 1 | #ifndef CURRENT_CONTROLLER_CONFIG_H |
benkatz | 20:bf9ea5125d52 | 2 | #define CURRENT_CONTROLLER_CONFIG_H |
benkatz | 20:bf9ea5125d52 | 3 | |
benkatz | 37:c0f352d6e8e3 | 4 | // Current controller/// |
benkatz | 44:efcde0af8390 | 5 | #define K_D .05f // Loop gain, Volts/Amp |
benkatz | 44:efcde0af8390 | 6 | #define K_Q .05f // Loop gain, Volts/Amp |
Wooden | 48:a74e401a6d84 | 7 | #define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 |
Wooden | 48:a74e401a6d84 | 8 | //#define K_SCALE 0.00165f |
Wooden | 48:a74e401a6d84 | 9 | // #define K_SCALE 0.0000000825f |
Wooden | 47:f4ecf3e0576a | 10 | // #define K_SCALE 0.0008 |
Wooden | 47:f4ecf3e0576a | 11 | //#define K_SCALE 0.0004 |
benkatz | 44:efcde0af8390 | 12 | #define KI_D 0.0255f // PI zero, in radians per sample |
benkatz | 44:efcde0af8390 | 13 | #define KI_Q 0.0255f // PI zero, in radians per sample |
benkatz | 29:0dbc822dd29a | 14 | #define V_BUS 24.0f // Volts |
Wooden | 48:a74e401a6d84 | 15 | // #define V_BUS 48.0f |
benkatz | 44:efcde0af8390 | 16 | #define OVERMODULATION 1.2f // 1.0 = no overmodulation |
benkatz | 20:bf9ea5125d52 | 17 | |
Wooden | 48:a74e401a6d84 | 18 | #define kp_design 0.6f |
Wooden | 48:a74e401a6d84 | 19 | #define ki_design 0.086f |
Wooden | 48:a74e401a6d84 | 20 | // #define alpha 0.86425f // 1/(2piTf+1), fc=1000 |
Wooden | 48:a74e401a6d84 | 21 | #define alpha 0.76104f // 1 - 2PiDtFc/(2PiDtFc+1), Fc=2k hz |
Wooden | 48:a74e401a6d84 | 22 | |
benkatz | 22:60276ba87ac6 | 23 | #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples |
benkatz | 22:60276ba87ac6 | 24 | #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples |
benkatz | 20:bf9ea5125d52 | 25 | |
benkatz | 26:2b865c00d7e9 | 26 | #define I_MAX 40.0f |
benkatz | 26:2b865c00d7e9 | 27 | |
benkatz | 37:c0f352d6e8e3 | 28 | //Observer// |
benkatz | 37:c0f352d6e8e3 | 29 | #define DT 0.000025f |
benkatz | 37:c0f352d6e8e3 | 30 | #define K_O 0.02f |
benkatz | 37:c0f352d6e8e3 | 31 | |
benkatz | 37:c0f352d6e8e3 | 32 | |
benkatz | 20:bf9ea5125d52 | 33 | |
benkatz | 20:bf9ea5125d52 | 34 | |
benkatz | 20:bf9ea5125d52 | 35 | #endif |