Aditya Mehrotra
Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Revision 66:3947255b18c5, committed 2021-01-29
- Comitter:
- elijahsj
- Date:
- Fri Jan 29 20:39:36 2021 +0000
- Parent:
- 65:bfdf1e10428d
- Child:
- 67:96a4052a1705
- Commit message:
- update U12 parameters;
Changed in this revision
--- a/CAN/CAN_com.cpp Thu Nov 26 04:31:14 2020 +0000 +++ b/CAN/CAN_com.cpp Fri Jan 29 20:39:36 2021 +0000 @@ -9,8 +9,8 @@ #define KP_MAX 500.0f #define KD_MIN 0.0f #define KD_MAX 5.0f - #define T_MIN -18.0f - #define T_MAX 18.0f + #define T_MIN -72.0f + #define T_MAX 72.0f /// CAN Reply Packet Structure ///
--- a/Config/current_controller_config.h Thu Nov 26 04:31:14 2020 +0000 +++ b/Config/current_controller_config.h Fri Jan 29 20:39:36 2021 +0000 @@ -2,13 +2,13 @@ #define CURRENT_CONTROLLER_CONFIG_H // Current controller/// -#define K_D .05f // Loop gain, Volts/Amp -#define K_Q .05f // Loop gain, Volts/Amp +#define K_D .01f // Loop gain, Volts/Amp +#define K_Q .01f // Loop gain, Volts/Amp #define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 -#define KI_D 0.0455f // PI zero, in radians per sample -#define KI_Q 0.0455f // PI zero, in radians per sample -#define V_BUS 24.0f // Volts -#define OVERMODULATION 1.15f // 1.0 = no overmodulation +#define KI_D 0.002f // PI zero, in radians per sample +#define KI_Q 0.002f // PI zero, in radians per sample +#define V_BUS 30.0f // Volts +#define OVERMODULATION 1.0f // 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
--- a/Config/motor_config_R60.h Thu Nov 26 04:31:14 2020 +0000 +++ b/Config/motor_config_R60.h Fri Jan 29 20:39:36 2021 +0000 @@ -5,19 +5,19 @@ //TODO: fill in all of these parameters -#define R_PHASE 0.5f //Ohms -#define L_D 0.000084f //needs update //Henries -#define L_Q 0.000104f //needs update //Henries -#define NPP 14 //Number of pole pairs +//#define R_PHASE 0.5f //Ohms +//#define L_D 0.000084f //needs update //Henries +//#define L_Q 0.000104f //needs update //Henries +//#define NPP 14 //Number of pole pairs -#define KT 0.083f //N-m per peak phase amp, = WB*NPP*3/2 -#define GR 2.0f //Gear ratio -#define KT_OUT 0.166f //KT*GR -#define WB 0.0040f // from KT //Flux linkage, Webers. +//#define KT 0.083f //N-m per peak phase amp, = WB*NPP*3/2 +//#define GR 2.0f //Gear ratio +//#define KT_OUT 0.166f //KT*GR +//#define WB 0.0040f // from KT //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 +//#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 // R60 motor is KV115...use to calculate Kt // actuator has 24 stator slots, 28 pole magnets
--- a/Config/motor_config_U10.h Thu Nov 26 04:31:14 2020 +0000 +++ b/Config/motor_config_U10.h Fri Jan 29 20:39:36 2021 +0000 @@ -3,14 +3,14 @@ // CONFIGURATION PARAMETERS OF U10 MOTORS -#define R_PHASE 0.158f //Ohms +#define R_PHASE 0.433f //Ohms #define L_D 0.0002f //Henries -#define L_Q 0.000256f //Henries +#define L_Q 0.0002f //Henries, set both inductances equal for now #define NPP 21 //Number of pole pairs -#define KT 0.191f //N-m per peak phase amp, = WB*NPP*3/2 +#define KT 0.15f //N-m per peak phase amp, = WB*NPP*3/2 #define GR 6.0f //Gear ratio -#define KT_OUT 1.146f //KT*GR +#define KT_OUT 0.9f //KT*GR #define WB 0.00606f // from KT //Flux linkage, Webers. #define R_TH 1.25f //needs update //Kelvin per watt
--- a/Config/motor_config_U12.h Thu Nov 26 04:31:14 2020 +0000 +++ b/Config/motor_config_U12.h Fri Jan 29 20:39:36 2021 +0000 @@ -1,17 +1,18 @@ #ifndef MOTOR_CONFIG_U12_H #define MOTOR_CONFIG_U12_H + // CONFIGURATION PARAMETERS FOR U12 MOTORS -#define R_PHASE 0.433f //Ohms +#define R_PHASE 0.158f //Ohms #define L_D 0.000084f //Henries -#define L_Q 0.000104f //Henries +#define L_Q 0.000084f //Henries #define NPP 21 //Number of pole pairs -#define KT 0.239f //N-m per peak phase amp, = WB*NPP*3/2 +#define KT 0.1916f //N-m per peak phase amp, = WB*NPP*3/2 #define GR 6.0f //Gear ratio -#define KT_OUT 1.434f //KT*GR -#define WB 0.0076f // from KT //Flux linkage, Webers. +#define KT_OUT 1.15f //KT*GR +#define WB 0.00608f // from KT //Flux linkage, Webers. #define R_TH 1.25f //needs update //Kelvin per watt #define INV_M_TH 0.02825f //needs update //Kelvin per joule
--- a/FOC/foc.h Thu Nov 26 04:31:14 2020 +0000 +++ b/FOC/foc.h Fri Jan 29 20:39:36 2021 +0000 @@ -7,7 +7,7 @@ #include "hw_config.h" #include "math.h" #include "../math_ops.h" -#include "motor_config_U10.h" +#include "motor_config_U12.h" #include "current_controller_config.h" #include "FastMath.h" #include "user_config.h"
--- a/main.cpp Thu Nov 26 04:31:14 2020 +0000
+++ b/main.cpp Fri Jan 29 20:39:36 2021 +0000
@@ -26,7 +26,7 @@
#include "math_ops.h"
#include "current_controller_config.h"
#include "hw_config.h"
-#include "motor_config_U10.h" // need to choose between two files here, one for U10 and one for U12
+#include "motor_config_U12.h" // need to choose between two files here, one for U10 and one for U12
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"
#include "user_config.h"
@@ -124,7 +124,7 @@
wait_us(10);
printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
wait_us(10);
- printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
+ printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "65.0", I_MAX);
wait_us(10);
printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
wait_us(10);
@@ -380,7 +380,7 @@
CAN_MASTER = atoi(cmd_val);
break;
case 'l':
- I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
+ I_MAX = fmaxf(fminf(atof(cmd_val), 65.0f), 0.0f);
break;
case 'f':
I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);