kinoko john
/
airboot
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Config/current_controller_config.h
- Committer:
- benkatz
- Date:
- 2018-06-11
- Revision:
- 44:8040fa2fcb0d
- Parent:
- 37:c0f352d6e8e3
- Child:
- 46:2d4b1dafcfe3
File content as of revision 44:8040fa2fcb0d:
#ifndef CURRENT_CONTROLLER_CONFIG_H
#define CURRENT_CONTROLLER_CONFIG_H
// Current controller///
#define K_D .05f // Loop gain, Volts/Amp
#define K_Q .05f // Loop gain, Volts/Amp
#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042
#define KI_D 0.0255f // PI zero, in radians per sample
#define KI_Q 0.0255f // PI zero, in radians per sample
#define V_BUS 24.0f // Volts
#define OVERMODULATION 1.2f // 1.0 = no overmodulation
#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 I_MAX 40.0f
//Observer//
#define DT 0.000025f
#define K_O 0.02f
#endif