Alvee Ahmed
/
Hobbyking_Cheetah_Compact_DRV8323_14bit
customizing code for Aliexpress 14 bit version with MA702
Diff: FOC/foc.cpp
- Revision:
- 34:51647c6c500d
- Parent:
- 32:ccac5da77844
- Child:
- 35:69b24894c11d
--- a/FOC/foc.cpp Wed Aug 30 18:10:27 2017 +0000 +++ b/FOC/foc.cpp Wed Nov 08 15:18:18 2017 +0000 @@ -91,12 +91,13 @@ //dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents controller->i_d = 0.6666667f*(c*controller->i_a + (0.86602540378f*s-.5f*c)*controller->i_b + (-0.86602540378f*s-.5f*c)*controller->i_c); ///Faster DQ0 Transform controller->i_q = 0.6666667f*(-s*controller->i_a - (-0.86602540378f*c-.5f*s)*controller->i_b - (0.86602540378f*c-.5f*s)*controller->i_c); - - //float cogging_current = 0.05f*s*controller->i_q_ref; + controller->i_q_filt = .95f*controller->i_q_filt + .05f*controller->i_q; + float s_cog = sinf(12.0f*theta); + float cogging_current =-0.33f*s_cog + .25f*s; /// PI Controller /// float i_d_error = controller->i_d_ref - controller->i_d; - float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current; + float i_q_error = controller->i_q_ref - controller->i_q + cogging_current - 2.0f; float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE); //feed-forward voltage float v_q_ff = controller->dtheta_elec*WB*1.73205081f; controller->d_int += i_d_error; @@ -109,7 +110,7 @@ controller->v_d = K_SCALE*I_BW*i_d_error + K_SCALE*I_BW*KI_D*controller->d_int;// + v_d_ff; controller->v_q = K_SCALE*I_BW*i_q_error + K_SCALE*I_BW*KI_Q*controller->q_int;// + v_q_ff; - //controller->v_q = 4.0f;; + //controller->v_q = 4.0f; //controller->v_d = 0.0f; //controller->v_d = v_d_ff;