Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/motor_config_U10.h
- Revision:
- 60:0c8caaa91182
- Child:
- 61:33f2dc2b589f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Config/motor_config_U10.h Mon Nov 02 20:08:14 2020 +0000 @@ -0,0 +1,24 @@ +#ifndef MOTOR_CONFIG_H +#define MOTOR_CONFIG_H + +// WHOLE FILE NEEDS UPDATING FOR U10 MOTORS + +#define R_PHASE 0.4f //approx with multimeter //0.13f //Ohms +#define L_D 0.00008f //needs update //Henries +#define L_Q 0.00008f //needs update //Henries +#define KT 0.0398f // correct? //.075f //N-m per peak phase amp, = WB*NPP*3/2 +#define NPP 21 //11 //Number of pole pairs +#define GR 6.0f //2.0f //Gear ratio +#define KT_OUT 0.239f //0.036f //KT*GR +#define WB 0.0013 // from KT //0.00287f //Flux linkage, Webers. +#define R_TH 1.25f //needs update //Kelvin per watt +#define INV_M_TH 0.02825f //needs update //Kelvin per joule +#define T_AMBIENT 25.0f // ambient temperature during temp calibration + +// new motor has KV40 ...use to calculate Kt + +// new actuator has 36 stator slots, 42 pole magnets +// so, 21 elec revs per mech rev +// 36*21 steps per elec rev if using traditional commutation + +#endif