UVW 3 phases Brushless DC motor control
Dependencies: QEI mbed-rtos mbed
Fork of BLDCmotor by
Diff: controller.h
- Revision:
- 14:8e205264baa8
- Parent:
- 13:791e20f1af43
- Child:
- 15:427f5ae8e957
--- a/controller.h Sun Mar 03 09:09:34 2013 +0000 +++ b/controller.h Thu Jun 13 06:41:16 2013 +0000 @@ -4,7 +4,7 @@ //#define PI 3.14159265358979 // def. of PI /*********** User setting for control parameters (begin) ***************/ #define SIMULATION // Comment this line if not simulation -#define USE_CURRENT_CONTROL // Current control on. Comment if current control off. +//#define USE_CURRENT_CONTROL // Current control on. Comment if current control off. #define DEADZONE_PLUS 1. // deadzone of plus side #define DEADZONE_MINUS -1.5 // deadzone of minus side // encoder @@ -26,7 +26,7 @@ // Thread ThreadTimerTS3(CallTimerTS3,NULL,osPriorityBelowNormal); // Thread ThreadTimerTS4(CallTimerTS4,NULL,osPriorityLow); #define TMAX 3.0 // [s], experiment starts from 0[s] to TMAX[s] -#define TMAX_FIND_ORIGIN 0.1//1.0 // [s], finding th origin starts from 0[s] to TMAX[s] +#define TMAX_FIND_ORIGIN 30//0.1//1.0 // [s], finding th origin starts from 0[s] to TMAX[s] // 電流制御マイナーループ #define iKPd 10./2 // 電流制御d軸PIDのPゲイン (d-axis) @@ -36,7 +36,7 @@ #define iKIq 100./2 // 電流制御q軸PIDのIゲイン (q-axis) #define iKDq 0 // 電流制御q軸PIDのDゲイン (q-axis) -#define vdqMAX 300. +#define vdqMAX 3.3 // Vcc #define SQRvdqMAX (vdqMAX*vdqMAX) // [V^2] vdqの大きさの最大値の二乗 // 速度制御メインループ @@ -51,7 +51,7 @@ #endif #define iLPF 0.9 // 0-1, 速度に対する1次LPF; Low Pass Filter, G(z)=(1-a)/(z-a) -#define iqMAX 100 // [A], q軸電流指令のMAX制限(異常に大きい指令値を制限する) +#define iqMAX 4//100 // [A], q軸電流指令のMAX制限(異常に大きい指令値を制限する) /*********** User setting for control parameters (end) ***************/ @@ -117,6 +117,6 @@ extern velocity_loop_parameters vl; // 速度制御メインループの定数、変数 extern float data[][5]; // memory to save data offline instead of "online fprintf". -extern unsigned short _count_data; // counter for data[1000][5] - +extern unsigned short _count_data; // counter for data[1000][5] +extern float debug[20]; // for debug #endif \ No newline at end of file