Aditya Mehrotra / motor_driver

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

Config/current_controller_config.h

Committer:
elijahsj
Date:
2021-04-01
Revision:
70:2ea6c555a2cb
Parent:
69:ba1c89835a54
Child:
71:b314182de37f

File content as of revision 70:2ea6c555a2cb:

#ifndef CURRENT_CONTROLLER_CONFIG_H
#define CURRENT_CONTROLLER_CONFIG_H

// Current controller///
#define K_D  0.13319f                    // Loop gain,  Volts/Amp
#define K_Q  0.13319f                    // Loop gain,  Volts/Amp
#define K_SCALE 0.00013310f             // K_loop/Loop BW (Hz) 0.0042
#define KI_D 0.0373f                // PI zero, in radians per sample
#define KI_Q 0.0373f                // PI zero, in radians per sample
#define V_BUS 48.0f                 // Volts
#define OVERMODULATION 1.15f        // 1.0 = no overmodulation

#define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples

//Observer//
#define DT 0.000025f
#define K_O 0.02f




#endif