Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/motor_config.h
- Revision:
- 58:32e8927fe39f
- Parent:
- 57:0795d2add37e
--- a/Config/motor_config.h Thu Nov 07 18:14:51 2019 +0000 +++ b/Config/motor_config.h Tue Feb 04 14:19:58 2020 +0000 @@ -1,18 +1,22 @@ #ifndef MOTOR_CONFIG_H #define MOTOR_CONFIG_H -#define R_PHASE 0.13f //Ohms -#define L_D 0.00008f //Henries -#define L_Q 0.00008f //Henries -#define KT .075f //N-m per peak phase amp, = WB*NPP*3/2 -#define NPP 11 //Number of pole pairs -#define GR 2.0f //Gear ratio -#define KT_OUT 0.036f //KT*GR -#define WB 0.00287f //Flux linkage, Webers. -#define R_TH 1.25f //Kelvin per watt -#define INV_M_TH 0.02825f //Kelvin per joule -#define T_AMBIENT 25.0f // ambient temperature during temp calibration +#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