Diff: Config/current_controller_config.h

Revision:

48:a74e401a6d84

Parent:

47:f4ecf3e0576a

diff -r f4ecf3e0576a -r a74e401a6d84 Config/current_controller_config.h
--- 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