Alvee Ahmed
/
Hobbyking_Cheetah_Compact_DRV8323_14bit
customizing code for Aliexpress 14 bit version with MA702
Diff: FOC/foc.cpp
- Revision:
- 49:83d83040ea51
- Parent:
- 48:74a40481740c
--- a/FOC/foc.cpp Sun Mar 03 02:51:51 2019 +0000 +++ b/FOC/foc.cpp Thu Apr 04 13:50:02 2019 +0000 @@ -122,12 +122,12 @@ // Resistance observer // // Temperature Observer // float t_rise = (float)observer->temperature - 25.0f; - float q_th_in = (1.0f + .00393f*t_rise)*(controller->i_d*controller->i_d*R_PHASE*1.5f + controller->i_q*controller->i_q*R_PHASE*1.5f); + float q_th_in = (1.0f + .00393f*t_rise)*(controller->i_d*controller->i_d*R_PHASE*SQRT3 + controller->i_q*controller->i_q*R_PHASE*SQRT3); float q_th_out = t_rise*R_TH; observer->temperature += INV_M_TH*DT*(q_th_in-q_th_out); - //observer->resistance = (controller->v_q - 2.0f*controller->dtheta_elec*(WB + L_D*controller->i_d))/controller->i_q; - observer->resistance = controller->v_q/controller->i_q; + observer->resistance = (controller->v_q - SQRT3*controller->dtheta_elec*(WB))/controller->i_q; + //observer->resistance = controller->v_q/controller->i_q; if(isnan(observer->resistance)){observer->resistance = R_PHASE;} observer->temperature2 = (double)(25.0f + ((observer->resistance*6.0606f)-1.0f)*275.5f); double e = observer->temperature - observer->temperature2; @@ -157,7 +157,7 @@ controller->i_d_filt = 0.95f*controller->i_d_filt + 0.05f*controller->i_d; - // Filter the current references to the desired closed-loopbandwidth + // Filter the current references to the desired closed-loop bandwidth controller->i_d_ref_filt = (1.0f-controller->alpha)*controller->i_d_ref_filt + controller->alpha*controller->i_d_ref; controller->i_q_ref_filt = (1.0f-controller->alpha)*controller->i_q_ref_filt + controller->alpha*controller->i_q_ref;