Aditya Mehrotra
Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/motor_config_R60.h@64:2c4c2b9d8248, 2020-11-25 (annotated)
- Committer:
- saloutos
- Date:
- Wed Nov 25 16:41:27 2020 +0000
- Revision:
- 64:2c4c2b9d8248
- Child:
- 66:3947255b18c5
added R60 motor config file, still need to go through and modify all configuration files for higher voltage and higher current limits
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| saloutos | 64:2c4c2b9d8248 | 1 | #ifndef MOTOR_CONFIG_U12_H |
| saloutos | 64:2c4c2b9d8248 | 2 | #define MOTOR_CONFIG_U12_H |
| saloutos | 64:2c4c2b9d8248 | 3 | |
| saloutos | 64:2c4c2b9d8248 | 4 | // CONFIGURATION PARAMETERS FOR R60 MOTORS |
| saloutos | 64:2c4c2b9d8248 | 5 | |
| saloutos | 64:2c4c2b9d8248 | 6 | //TODO: fill in all of these parameters |
| saloutos | 64:2c4c2b9d8248 | 7 | |
| saloutos | 64:2c4c2b9d8248 | 8 | #define R_PHASE 0.5f //Ohms |
| saloutos | 64:2c4c2b9d8248 | 9 | #define L_D 0.000084f //needs update //Henries |
| saloutos | 64:2c4c2b9d8248 | 10 | #define L_Q 0.000104f //needs update //Henries |
| saloutos | 64:2c4c2b9d8248 | 11 | #define NPP 14 //Number of pole pairs |
| saloutos | 64:2c4c2b9d8248 | 12 | |
| saloutos | 64:2c4c2b9d8248 | 13 | #define KT 0.083f //N-m per peak phase amp, = WB*NPP*3/2 |
| saloutos | 64:2c4c2b9d8248 | 14 | #define GR 2.0f //Gear ratio |
| saloutos | 64:2c4c2b9d8248 | 15 | #define KT_OUT 0.166f //KT*GR |
| saloutos | 64:2c4c2b9d8248 | 16 | #define WB 0.0040f // from KT //Flux linkage, Webers. |
| saloutos | 64:2c4c2b9d8248 | 17 | |
| saloutos | 64:2c4c2b9d8248 | 18 | #define R_TH 1.25f //needs update //Kelvin per watt |
| saloutos | 64:2c4c2b9d8248 | 19 | #define INV_M_TH 0.02825f //needs update //Kelvin per joule |
| saloutos | 64:2c4c2b9d8248 | 20 | #define T_AMBIENT 25.0f // ambient temperature during temp calibration |
| saloutos | 64:2c4c2b9d8248 | 21 | |
| saloutos | 64:2c4c2b9d8248 | 22 | // R60 motor is KV115...use to calculate Kt |
| saloutos | 64:2c4c2b9d8248 | 23 | // actuator has 24 stator slots, 28 pole magnets |
| saloutos | 64:2c4c2b9d8248 | 24 | // so, 14 elec revs per mech rev |
| saloutos | 64:2c4c2b9d8248 | 25 | // 24*14 steps per elec rev if using traditional commutation |
| saloutos | 64:2c4c2b9d8248 | 26 | |
| saloutos | 64:2c4c2b9d8248 | 27 | #endif |