Wooden Jin / BLDC_V2

bldc driver firmware based on hobbyking cheetah compact

Dependencies:   BLDC_V2 mbed-dev-f303 FastPWM3

Dependents:   BLDC_V2

Config/current_controller_config.h@47:f4ecf3e0576a, 2020-05-13 (annotated)

Committer:
Wooden
Date:
Wed May 13 09:53:27 2020 +0000
Revision:
47:f4ecf3e0576a
Parent:
44:efcde0af8390
Child:
48:a74e401a6d84
bldc firmware based on hobbyking cheetah compact

Who changed what in which revision?

UserRevisionLine numberNew 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 47:f4ecf3e0576a 7 //#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042
Wooden 47:f4ecf3e0576a 8 #define K_SCALE 0.00165f
Wooden 47:f4ecf3e0576a 9 // #define K_SCALE 0.0008
Wooden 47:f4ecf3e0576a 10 //#define K_SCALE 0.0004
benkatz 44:efcde0af8390 11 #define KI_D 0.0255f // PI zero, in radians per sample
benkatz 44:efcde0af8390 12 #define KI_Q 0.0255f // PI zero, in radians per sample
benkatz 29:0dbc822dd29a 13 #define V_BUS 24.0f // Volts
benkatz 44:efcde0af8390 14 #define OVERMODULATION 1.2f // 1.0 = no overmodulation
benkatz 20:bf9ea5125d52 15
benkatz 22:60276ba87ac6 16 #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples
benkatz 22:60276ba87ac6 17 #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples
benkatz 20:bf9ea5125d52 18
benkatz 26:2b865c00d7e9 19 #define I_MAX 40.0f
benkatz 26:2b865c00d7e9 20
benkatz 37:c0f352d6e8e3 21 //Observer//
benkatz 37:c0f352d6e8e3 22 #define DT 0.000025f
benkatz 37:c0f352d6e8e3 23 #define K_O 0.02f
benkatz 37:c0f352d6e8e3 24
benkatz 37:c0f352d6e8e3 25
benkatz 20:bf9ea5125d52 26
benkatz 20:bf9ea5125d52 27
benkatz 20:bf9ea5125d52 28 #endif