Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/motor_config_U10.h@76:4fd876d4cf2b, 23 months ago (annotated)
- Committer:
- adimmit
- Date:
- Tue Oct 18 16:22:24 2022 +0000
- Revision:
- 76:4fd876d4cf2b
- Parent:
- 70:2ea6c555a2cb
added some position data logging;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
saloutos | 62:bbdf5afada79 | 1 | #ifndef MOTOR_CONFIG_U10_H |
saloutos | 62:bbdf5afada79 | 2 | #define MOTOR_CONFIG_U10_H |
saloutos | 60:0c8caaa91182 | 3 | |
saloutos | 61:33f2dc2b589f | 4 | // CONFIGURATION PARAMETERS OF U10 MOTORS |
saloutos | 60:0c8caaa91182 | 5 | |
elijahsj | 66:3947255b18c5 | 6 | #define R_PHASE 0.433f //Ohms |
saloutos | 61:33f2dc2b589f | 7 | #define L_D 0.0002f //Henries |
elijahsj | 66:3947255b18c5 | 8 | #define L_Q 0.0002f //Henries, set both inductances equal for now |
saloutos | 61:33f2dc2b589f | 9 | #define NPP 21 //Number of pole pairs |
saloutos | 61:33f2dc2b589f | 10 | |
elijahsj | 70:2ea6c555a2cb | 11 | #define KT 0.2028f //N-m per peak phase amp, = WB*NPP*3/2 |
saloutos | 61:33f2dc2b589f | 12 | #define GR 6.0f //Gear ratio |
elijahsj | 70:2ea6c555a2cb | 13 | #define KT_OUT 1.2168f //KT*GR |
saloutos | 61:33f2dc2b589f | 14 | #define WB 0.00606f // from KT //Flux linkage, Webers. |
saloutos | 61:33f2dc2b589f | 15 | |
saloutos | 60:0c8caaa91182 | 16 | #define R_TH 1.25f //needs update //Kelvin per watt |
saloutos | 60:0c8caaa91182 | 17 | #define INV_M_TH 0.02825f //needs update //Kelvin per joule |
saloutos | 61:33f2dc2b589f | 18 | #define T_AMBIENT 25.0f // ambient temperature during temp calibration |
saloutos | 60:0c8caaa91182 | 19 | |
saloutos | 61:33f2dc2b589f | 20 | // U10 motor is KV50...use to calculate Kt |
saloutos | 61:33f2dc2b589f | 21 | // actuator has 36 stator slots, 42 pole magnets |
saloutos | 60:0c8caaa91182 | 22 | // so, 21 elec revs per mech rev |
saloutos | 60:0c8caaa91182 | 23 | // 36*21 steps per elec rev if using traditional commutation |
saloutos | 60:0c8caaa91182 | 24 | |
saloutos | 60:0c8caaa91182 | 25 | #endif |