Revision 59:ed4b54437e02, committed 2020-12-25

Comitter:

shaorui

Date:

Fri Dec 25 07:06:28 2020 +0000

Parent:

58:bed739c83fac

Commit message:

l

Changed in this revision

--- a/Config/motor_config.h	Thu Dec 24 11:30:43 2020 +0000
+++ b/Config/motor_config.h	Fri Dec 25 07:06:28 2020 +0000
@@ -1,14 +1,14 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-#define R_PHASE 0.13f           //Ohms
-#define L_D 0.00002f            //Henries
-#define L_Q 0.00002f            //Henries
+#define R_PHASE 0.5f           //Ohms
+#define L_D 0.00003f            //Henries
+#define L_Q 0.00003f            //Henries
 #define KT .08f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define NPP 21                  //Number of pole pairs
 #define GR 49.0f//151.0f//6.0f                 //Gear ratio  //hjb changed
-#define KT_OUT 4.0f//0.08f//0.45f            //KT*GR
-#define WB 0.0025f              //Flux linkage, Webers.  
+#define KT_OUT 4.0f//4.0f//0.08f//0.45f            //KT*GR
+#define WB 0.0024f              //Flux linkage, Webers.  
 #define R_TH 1.25f              //Kelvin per watt
 #define INV_M_TH 0.03125f       //Kelvin per joule
 

--- a/main.cpp	Thu Dec 24 11:30:43 2020 +0000
+++ b/main.cpp	Fri Dec 25 07:06:28 2020 +0000
@@ -493,6 +493,9 @@
        //printf("adc2: %.3d\n\r",controller.adc2_raw = ADC2->DR);   
        //printf("adc3: %.3d\n\r",controller.adc2_raw = ADC3->DR);      
             //wait(.002);
+              printf("vdes:%.3f real:%.3f\n\r",60*controller.v_des*GR/(2*PI) ,controller.dtheta_mech*GR*60/(2*PI));
+               printf("preal:%.3f\n\r",controller.theta_mech*350/2/PI);
+              
             wait(1);
         }