Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

defaults.h@243:96b03b3bf3ef, 2018-11-12 (annotated)

Committer:
bwang
Date:
Mon Nov 12 11:16:43 2018 +0000
Revision:
243:96b03b3bf3ef
Parent:
240:2aaffa217627 
11/12/2018 06:16 - added W_LOOP_MAX_TQ parameter to limit acceleration in speed mode (actually, to make bench supplies not freak out when the motor ramps)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 185:5c102874b490 1 #ifndef __DEFAULTS_H
bwang 185:5c102874b490 2 #define __DEFAULTS_H
bwang 185:5c102874b490 3
bwang 185:5c102874b490 4 /*---driving (mostly unimplemented)---*/
bwang 185:5c102874b490 5
bwang 185:5c102874b490 6 /*legacy code, indicating there should be no throttle map*/
bwang 185:5c102874b490 7 #define TORQUE_MODE true
bwang 185:5c102874b490 8
bwang 185:5c102874b490 9 /*forward torque scaling*/
bwang 185:5c102874b490 10 #define MAX_TQPCT_PLUS 1.0f
bwang 185:5c102874b490 11
bwang 185:5c102874b490 12 /*reverse/regen torque scaling*/
bwang 185:5c102874b490 13 #define MAX_TQPCT_MINUS 0.3f
bwang 185:5c102874b490 14
bwang 185:5c102874b490 15 /*maximum torque for approximate methods*/
bwang 185:5c102874b490 16 #define TORQUE_MAX 75.0f
bwang 185:5c102874b490 17
bwang 185:5c102874b490 18 /*max speed, including any field weakening, rad/s*/
bwang 185:5c102874b490 19 #define W_MAX 1000.0f
bwang 185:5c102874b490 20
bwang 185:5c102874b490 21 /*---inverter---*/
bwang 185:5c102874b490 22
bwang 185:5c102874b490 23 /*DC link voltage, volts*/
bwang 185:5c102874b490 24 #define BUS_VOLTAGE 160.0f
bwang 185:5c102874b490 25
bwang 185:5c102874b490 26 /*switching frequency, hertz*/
bwang 185:5c102874b490 27 #define F_SW 5000.0f
bwang 185:5c102874b490 28
bwang 185:5c102874b490 29 /*propagation delay swizzle factor (+w_m / V_PHASE_SWIZZLE)*/
bwang 185:5c102874b490 30 #define V_PHASE_SWIZZLE 1048.0f
bwang 185:5c102874b490 31
bwang 185:5c102874b490 32 /*---logging---*/
bwang 185:5c102874b490 33
bwang 185:5c102874b490 34 #define ENABLE_LOGGING true
bwang 185:5c102874b490 35
bwang 185:5c102874b490 36 #define LOG_PAGE_SIZE 4096
bwang 185:5c102874b490 37 #define LOG_HEADER_SIZE 10
bwang 185:5c102874b490 38 #define LOG_PACKET_SIZE 8
bwang 185:5c102874b490 39 #define LOG_BAUD_RATE 921600
bwang 185:5c102874b490 40
bwang 185:5c102874b490 41 /*---loop---*/
bwang 185:5c102874b490 42 #define K_LOOP_D 0.75f
bwang 185:5c102874b490 43 #define KI_BASE_D 0.025f
bwang 185:5c102874b490 44
bwang 185:5c102874b490 45 #define K_LOOP_Q 1.75f
bwang 185:5c102874b490 46 #define KI_BASE_Q 0.01f
bwang 185:5c102874b490 47
bwang 185:5c102874b490 48 #define F_SLOW_LOOP 50.0f
bwang 185:5c102874b490 49
bwang 185:5c102874b490 50 #define INTEGRAL_MAX 1.5f
bwang 185:5c102874b490 51 #define OVERMODULATION_FACTOR 0.5f
bwang 185:5c102874b490 52
bwang 185:5c102874b490 53 /*filter strengths, 0-1.0
bwang 185:5c102874b490 54 higher = stronger filtering*/
bwang 185:5c102874b490 55 #define DQ_FILTER_STRENGTH 0.80f
bwang 185:5c102874b490 56
bwang 185:5c102874b490 57 /*windows for median filtering*/
bwang 185:5c102874b490 58 #define THROTTLE_FILTER_WINDOW 7
bwang 185:5c102874b490 59 #define W_FILTER_WINDOW 3
bwang 185:5c102874b490 60
bwang 185:5c102874b490 61 /*---motor---*/
bwang 185:5c102874b490 62
bwang 185:5c102874b490 63 /*# of pole pairs*/
bwang 185:5c102874b490 64 #define POLE_PAIRS 3.0f
bwang 185:5c102874b490 65
bwang 185:5c102874b490 66 /*electrical position offset,
bwang 185:5c102874b490 67 measured as +a, -b, -c (radians)*/
bwang 185:5c102874b490 68 #define POS_OFFSET 5.7614f
bwang 185:5c102874b490 69
bwang 185:5c102874b490 70 /*# of resolver lobes*/
bwang 185:5c102874b490 71 #define RESOLVER_LOBES 3.0f
bwang 185:5c102874b490 72
bwang 185:5c102874b490 73 /*CPR of encoder or encoder emulator*/
bwang 185:5c102874b490 74 #define CPR 4096
bwang 185:5c102874b490 75
bwang 185:5c102874b490 76 /*d and q axis inductances, henries*/
bwang 185:5c102874b490 77 #define Ld 0.000605f
bwang 185:5c102874b490 78 #define Lq 0.001536f
bwang 185:5c102874b490 79
bwang 185:5c102874b490 80 /*PM flux linkage, volt-seconds*/
bwang 185:5c102874b490 81 #define FLUX_LINKAGE 0.0529f
bwang 185:5c102874b490 82
bwang 185:5c102874b490 83 /*single phase resistance, ohms*/
bwang 185:5c102874b490 84 #define Rs 0.05f
bwang 185:5c102874b490 85
bwang 185:5c102874b490 86 /*torque/phase amp for approximate models*/
bwang 185:5c102874b490 87 #define KT 0.3f
bwang 185:5c102874b490 88
bwang 185:5c102874b490 89 /*a safe speed below which you
bwang 185:5c102874b490 90 never need to field weaken*/
bwang 185:5c102874b490 91 #define W_SAFE 100.0f
bwang 185:5c102874b490 92
bwang 185:5c102874b490 93 /*maximum sane mechanical speed,
bwang 185:5c102874b490 94 used to filter velocity (rad/s)*/
bwang 185:5c102874b490 95 #define W_CRAZY 2000.0f
bwang 185:5c102874b490 96
bwang 185:5c102874b490 97 /*---rc throttle---*/
bwang 185:5c102874b490 98
bwang 185:5c102874b490 99 #define TH_PIN PB_8
bwang 185:5c102874b490 100 #define TH_LIMIT_LOW 1520//1050 //1520 //uS
bwang 185:5c102874b490 101 #define TH_LIMIT_HIGH 1720//1950 //1720
bwang 185:5c102874b490 102
bwang 185:5c102874b490 103 /*---table---*/
bwang 185:5c102874b490 104
bwang 185:5c102874b490 105 #define W_STEP 150.f
bwang 185:5c102874b490 106
bwang 243:96b03b3bf3ef 107 /*---speed mode---*/
bwang 243:96b03b3bf3ef 108
bwang 243:96b03b3bf3ef 109 #define K_LOOP_W 0.0f
bwang 243:96b03b3bf3ef 110 #define KI_BASE_W 0.0f
bwang 243:96b03b3bf3ef 111 #define W_SETPOINT_MAX 1500.0f
bwang 243:96b03b3bf3ef 112 #define W_LOOP_MAX_TQ 1.0f
bwang 243:96b03b3bf3ef 113
bwang 185:5c102874b490 114 #endif