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@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?

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 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