N K
/
priustroller_current
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priustroller_2
by 
N K
Revision 56:85a26f839af2, committed 2016-01-31
- Comitter:
- bwang
- Date:
- Sun Jan 31 06:44:58 2016 +0000
- Parent:
- 55:f102d271e808
- Commit message:
- latest rev
Changed in this revision
--- a/callbacks.cpp Thu May 21 02:19:25 2015 +0000
+++ b/callbacks.cpp Sun Jan 31 06:44:58 2016 +0000
@@ -9,12 +9,18 @@
void fast(Context *c) {
float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
- float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
+ float I_b, I_c, angle, d_filtered, q_filtered, vd, vq, speed;
dbg_ib = I_b = c->motor->GetCurrentB();
dbg_ic = I_c = c->motor->GetCurrentC();
dbg_angle = angle = c->motor->GetPosition();
float speed_raw = c->motor->GetSpeed();
- dbg_speed = c->filter_sp->Update(speed_raw);
+ dbg_speed = speed = c->filter_sp->Update(speed_raw);
+ //float delta = speed / 5.0f;
+ float delta = 0.0f;
+ if (delta > 70.0f) delta = 70.0f;
+ angle += delta;
+ if (angle >= 360.0f) angle -= 360.0f;
+ if (angle < 0.0f) angle += 360.0f;
Clarke(-(I_b + I_c), I_b, &alpha, &beta);
Parke(alpha, beta, angle, &d, &q);
@@ -74,7 +80,7 @@
void log(Context *c) {
//c->debugger->Write(0, dbg_speed);
- //c->debugger->Write(1, dbg_q_filtered);
- //c->debugger->Write(2, dbg_d_filtered);
- //c->debugger->Write(3, dbg_angle);
+ //c->debugger->Write(1, dbg_ib);
+ //c->debugger->Write(2, dbg_ic);
+ //c->debugger->Write(3, dbg_q_filtered);
}
\ No newline at end of file
--- a/context.cpp Thu May 21 02:19:25 2015 +0000
+++ b/context.cpp Sun Jan 31 06:44:58 2016 +0000
@@ -110,7 +110,7 @@
filter_d = new MeanFilter(_filter_strength);
filter_q = new MeanFilter(_filter_strength);
filter_th = new MeanFilter(_th_filter_strength);
- filter_sp = new MeanFilter(0.99);
+ filter_sp = new MeanFilter(0.999);
serial = new Serial(USBTX, USBRX);
--- a/core/inverter.cpp Thu May 21 02:19:25 2015 +0000
+++ b/core/inverter.cpp Sun Jan 31 06:44:58 2016 +0000
@@ -9,9 +9,9 @@
_pwm_a = new PwmOut(ph_a);
_pwm_b = new PwmOut(ph_b);
_pwm_c = new PwmOut(ph_c);
- _pwm_a->period_us(200);
- _pwm_b->period_us(200);
- _pwm_c->period_us(200);
+ _pwm_a->period_us(100);
+ _pwm_b->period_us(100);
+ _pwm_c->period_us(100);
_sense_bus = sense_bus;
_sense_t = sense_t;
--- a/main.cpp Thu May 21 02:19:25 2015 +0000
+++ b/main.cpp Sun Jan 31 06:44:58 2016 +0000
@@ -11,11 +11,11 @@
Context *context = new Context();
context->ConfigureOutputs(D13, D3, D6, D2);
context->ConfigureCurrentSensors(A1, A2, 0.0016f, 0.7f); //scale in V/A, filter strength
- context->ConfigureIdPidController(0.0000032f, 0.0f, 0.0f, 1.0f, -1.0f);
- context->ConfigureIqPidController(0.0000032f, 0.0f, 0.0f, 1.0f, -1.0f);
+ context->ConfigureIdPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f);
+ context->ConfigureIqPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f);
context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.99f); //last term is LPF strength
- context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 275.0f); //205 is default
- context->ConfigureReference(200.0f); // max phase current
+ context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 260.0f); //205 is default
+ context->ConfigureReference(300.0f); // max phase current
context->ConfigureDebugger(4, 2000);
context->AttachCallBack(&fast, 5000);
context->AttachCallBack(&slow, 10);