bldc driver firmware based on hobbyking cheetah compact
Dependencies: BLDC_V2 mbed-dev-f303 FastPWM3
Diff: Config/current_controller_config.h
- Revision:
- 48:a74e401a6d84
- Parent:
- 47:f4ecf3e0576a
--- a/Config/current_controller_config.h Wed May 13 09:53:27 2020 +0000 +++ b/Config/current_controller_config.h Wed Apr 07 10:12:43 2021 +0000 @@ -4,15 +4,22 @@ // Current controller/// #define K_D .05f // Loop gain, Volts/Amp #define K_Q .05f // Loop gain, Volts/Amp -//#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 -#define K_SCALE 0.00165f +#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 +//#define K_SCALE 0.00165f +// #define K_SCALE 0.0000000825f // #define K_SCALE 0.0008 //#define K_SCALE 0.0004 #define KI_D 0.0255f // PI zero, in radians per sample #define KI_Q 0.0255f // PI zero, in radians per sample #define V_BUS 24.0f // Volts +// #define V_BUS 48.0f #define OVERMODULATION 1.2f // 1.0 = no overmodulation +#define kp_design 0.6f +#define ki_design 0.086f +// #define alpha 0.86425f // 1/(2piTf+1), fc=1000 +#define alpha 0.76104f // 1 - 2PiDtFc/(2PiDtFc+1), Fc=2k hz + #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples