Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

Config/motor_config.h

Committer:
shaorui
Date:
2020-09-15
Revision:
53:32218a36df05
Parent:
52:d4d5e3414865

File content as of revision 53:32218a36df05:

#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

//#define R_PHASE 0.105f          //Ohms
//#define R_PHASE 0.45f             //
#define R_PHASE 0.5f             //50Nm joint
//#define L_D 0.00003f            //Henries
//#define L_Q 0.00003f            //Henries
//#define L_D 0.000186f            //Henries
//#define L_Q 0.000186f            //Henries
#define L_D 0.000216f            //LJZ,Henries
#define L_Q 0.00024f            //LJZ,Henries
#define KT .08f//.075f                 //N-m per peak phase amp, = WB*NPP*3/2
#define NPP 21                  //Number of pole pairs
//#define GR 1.0f                 //Gear ratio
#define GR 49.0f                 //Gear ratio
#define KT_OUT 3.92f//0.45f            //KT*GR
#define WB 0.00287f               //Webers.  
#define R_TH 1.25f              //Kelvin per watt
#define INV_M_TH 0.02825f       //Kelvin per joule
#define T_AMBIENT 25.0f        // ambient temperature during temp calibration


#endif