Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

config_loop.h@64:b4175385d718, 2017-01-28 (annotated)

Committer:
bwang
Date:
Sat Jan 28 23:21:07 2017 +0000
Revision:
64:b4175385d718
Parent:
62:581aa9235ad6
Child:
70:5e39beeb4a21
on gokart 1/28/2017 18:20; vd vq and integrals clamped into ellipses, correct gains, some debug statements in main()

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 15:b583cd30b063 1 #ifndef __CONFIG_LOOP_H
bwang 15:b583cd30b063 2 #define __CONFIG_LOOP_H
bwang 15:b583cd30b063 3
bwang 22:72840d3db788 4 #include "config_inverter.h"
bwang 22:72840d3db788 5
bwang 62:581aa9235ad6 6 #define K_LOOP_D 2.5f
bwang 62:581aa9235ad6 7 #define KI_BASE_D 0.025f
bwang 62:581aa9235ad6 8
bwang 62:581aa9235ad6 9 #define K_LOOP_Q 6.0f
bwang 62:581aa9235ad6 10 #define KI_BASE_Q 0.01f
bwang 62:581aa9235ad6 11
bwang 62:581aa9235ad6 12 /*
bwang 60:22338b6c7a6e 13 #define K_LOOP_D 1.0f
bwang 60:22338b6c7a6e 14 #define KI_BASE_D 0.01f
bwang 58:7316c5a4c417 15
bwang 60:22338b6c7a6e 16 #define K_LOOP_Q 1.0f
bwang 58:7316c5a4c417 17 #define KI_BASE_Q 0.01f
bwang 62:581aa9235ad6 18 */
bwang 15:b583cd30b063 19
bwang 44:3fd6a43b91f0 20 #define F_SLOW_LOOP 100.0f
bwang 15:b583cd30b063 21
bwang 15:b583cd30b063 22 #define INTEGRAL_MAX 1.0f
bwang 15:b583cd30b063 23
bwang 39:80b38a8e1787 24 /*filter strengths, 0-1.0
bwang 39:80b38a8e1787 25 higher = stronger filtering*/
bwang 24:5e18a87a0e95 26 #define W_FILTER_STRENGTH 0.99f
bwang 64:b4175385d718 27 #define DQ_FILTER_STRENGTH 0.95f
bwang 15:b583cd30b063 28
bwang 44:3fd6a43b91f0 29 /*internally computed*/
bwang 58:7316c5a4c417 30 #define KP_D (K_LOOP_D / BUS_VOLTAGE)
bwang 58:7316c5a4c417 31 #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW)
bwang 58:7316c5a4c417 32
bwang 58:7316c5a4c417 33 #define KP_Q (K_LOOP_Q / BUS_VOLTAGE)
bwang 58:7316c5a4c417 34 #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW)
bwang 58:7316c5a4c417 35
bwang 44:3fd6a43b91f0 36 #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
bwang 44:3fd6a43b91f0 37
bwang 15:b583cd30b063 38 #endif