Diff: main.cpp

Revision:

2:0058dae8606d

Parent:

1:74d7a989b741

Child:

3:cb3ad5a26986

diff -r 74d7a989b741 -r 0058dae8606d main.cpp
--- a/main.cpp	Sat Jun 01 03:13:36 2019 +0000
+++ b/main.cpp	Sat Jun 08 03:52:20 2019 +0000
@@ -213,21 +213,21 @@
      if(r==1){
              if((Speed > 1000)&&(Speed <=1500)){
                  iso=-0.3;
-                 Vqp=0.2*Vq;  //0.8
+                 Vqp=0.3*Vq;  //0.2
                  Vdlink=0.4;
                  Edw=3500;
                  z=0.7;
                  }
              if((Speed > 1500)&&(Speed <=2000)){
                  iso=0.7;
-                 Vqp=0.2*Vq;   //0.7
+                 Vqp=0.3*Vq;   //0.2
                  Vdlink=0.45;
                  Edw=3600;
                  z=0.7;
                  }
              if((Speed > 2000)&&(Speed <=3000)){
                  iso=0.8;
-                 Vqp=0.2*Vq;  //0.3
+                 Vqp=0.3*Vq;  //0.2
                  Vdlink=0.5;
                  Edw=3700;
                  z=0.7;
@@ -268,7 +268,7 @@
                  z=0.8;   //0.8
                  }
                 // th=(Wz*et*1.9E-4)+iso;           //1.99E-4 
-                 th=(W*et*1.9E-4)+iso;    
+                 th=(W*et*1.9E-4)+iso; //1.9E-4   
               // th=Wo*wi*1.85E-4;
           }
               
@@ -361,7 +361,7 @@
        // Vq=(idq[1]);//tmp vdq
     
      /*****PID Id　*****/
-        Idin=(-0.25)-idq[0];  // -0.2
+        Idin=(-0.25)-idq[0];  // -0.25
         float adi,bdi,cdi,workdi[2];
         float kpdi=1.0,kidi=0.5,kddi=0.0;  //p51 0.5 1.2 0.0
         float dtdi=1.0E-6;//1E-6
@@ -459,10 +459,10 @@
             }    
       
     /*****PID ω　*****/
-        Xin=5500*(1.05-Vr_adc)-vst;  // 5500
+        Xin=5000*(1.05-Vr_adc)-vst;  // 5500
         float a,b,c,work[2];
-        float kp=2.0,ki=0.5,kd=0.0;  // 1.2 0.7
-        float dt=10.0E-6;//1E-6
+        float kp=2.0,ki=0.5,kd=0.0;  // 2.0 0.5
+        float dt=10.0E-6;//10E-6
         a=Xin;
         b=work[1]+(Xin+work[0])/2.0*dt;
         c=(Xin-work[0])/dt;
@@ -491,7 +491,7 @@
          }*/
     /****Filter********/
     float vstfo=vstf;
-    float dttt=100.0E-6;//100E-6
+    float dttt=10.0E-6;//100E-6
     float k11,k22,k33,k44,tau1=0.1;//0.01
     k11=dttt*(vsti-vstfo)/tau1;
     k22=dttt*(vsti-(vstfo+k11/2.0))/tau1;