Austin Brown
/
ESCmk2_Inductance
Inductance Testing Code
Fork of CurrentModeSine by
fw_config.h
- Committer:
- austinbrown124
- Date:
- 2018-10-11
- Revision:
- 1:64b881306f6f
File content as of revision 1:64b881306f6f:
#ifndef FW_CONFIG_H #define FW_CONFIG_H //hardware stuff #define R_S 0.027f //Ohms #define L_S 0.00004f //Henries //#define KT .07f //N-m per peak phase amp (= RMS amps/1.5) #define POLE_PAIRS 7 //Number of pole pairs #define ENC_TICKS_PER_REV 8191 //wank //#define WB KT/NPP //Webers. //current controler settings #define K_D 0.25f // Volts/Amp #define K_Q 0.25f // Volts/Amp #define KI_D 0.03f // 1/samples #define KI_Q 0.03f // 1/samples /* #define K_D 8.1f // Volts/Amp #define K_Q 8.1f // Volts/Amp #define KI_D 0.02f // 1/samples #define KI_Q 0.02f // 1/samples */ #define V_BUS 14.0f // Volts, actual bus voltage #define V_CLIP 14.0f // Volts, This is when the controller will nope out- not actually the real bus voltage //#define V_BUS 6.0f // Volts, actual bus voltage //#define V_CLIP 6.0f // Volts, This is when the controller will nope out- not actually the real bus voltage #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples //#define MODULATION_FACTOR 0.574f // //perfect with zero clipping if v = v_bus, actually equal to 0.57735f * (DTC_MAX-DTC_MIN) #define MODULATION_FACTOR 0.57f // //perfect with zero clipping if v = v_bus, actually equal to 0.57735f * (DTC_MAX-DTC_MIN) //#define MODULATION_FACTOR 0.45f // //perfect with zero clipping if v = v_bus, actually equal to 0.57735f * (DTC_MAX-DTC_MIN) #define USE_THETA_ADV false #define MAX_AMPS 20.0f #define DT 0.00005f #define F_SW 20000 #define DTC_MAX 0.93f // Max phase duty cycle #define DTC_MIN 0.07f // Min phase duty cycle #define FL_OBS_LOWSPEED_MULT 0.995 //0.9992^2500 = 0.13 so lowpass will go to 0.18 every 8hz #define FL_OBS_HIGHSPEED_MULT 0.95 //a lot faster #endif