Shao Rui / test_motor_output_position

1

Dependencies:   mbed-dev-f303 FastPWM3

Diff: FOC/foc.cpp

Revision:
48:1b51771c3647
Parent:
44:efcde0af8390
--- a/FOC/foc.cpp	Sat Dec 07 08:01:06 2019 +0000
+++ b/FOC/foc.cpp	Fri Feb 07 11:31:37 2020 +0000
@@ -116,7 +116,7 @@
        /// PI Controller ///
        float i_d_error = controller->i_d_ref - controller->i_d;
        float i_q_error = controller->i_q_ref - controller->i_q  + cogging_current;
-       
+       //Ud和Uq公式
        float v_d_ff = 2.0f*(controller->i_d_ref*R_PHASE - controller->dtheta_elec*L_Q*controller->i_q_ref);   //feed-forward voltages
        float v_q_ff =  2.0f*(controller->i_q_ref*R_PHASE  + controller->dtheta_elec*(L_D*controller->i_d_ref + WB));