Bayley Wang
robot
config_motor.h@31:ebe42589ab9d, 2016-11-10 (annotated)
- Committer:
- bwang
- Date:
- Thu Nov 10 14:43:25 2016 +0000
- Revision:
- 31:ebe42589ab9d
- Parent:
- 30:c25c5bf0d951
- Child:
- 32:b31423041c4e
added IPM optimization code, commented out decoupling
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 15:b583cd30b063 | 1 | #ifndef __CONFIG_MOTOR_H |
| bwang | 15:b583cd30b063 | 2 | #define __CONFIG_MOTOR_H |
| bwang | 15:b583cd30b063 | 3 | |
| bwang | 15:b583cd30b063 | 4 | #define POLE_PAIRS 3.0f |
| bwang | 24:5e18a87a0e95 | 5 | #define POS_OFFSET 5.88f |
| bwang | 15:b583cd30b063 | 6 | #define RESOLVER_LOBES 3.0f |
| bwang | 15:b583cd30b063 | 7 | #define CPR 4096 |
| bwang | 29:50e6e4e46580 | 8 | |
| bwang | 31:ebe42589ab9d | 9 | #define Ld 0.0005f //Henries |
| bwang | 31:ebe42589ab9d | 10 | #define Lq 0.001f |
| bwang | 31:ebe42589ab9d | 11 | #define FLUX_LINKAGE 0.1f //Webers |
| bwang | 30:c25c5bf0d951 | 12 | |
| bwang | 30:c25c5bf0d951 | 13 | #define KT 0.3f //Nm/A -- filler value until the LUT is made |
| bwang | 30:c25c5bf0d951 | 14 | |
| bwang | 29:50e6e4e46580 | 15 | #define IPHASE_MOTOR_LIMIT 200.0f |
| bwang | 29:50e6e4e46580 | 16 | #define W_LIMIT 1000.0f |
| bwang | 29:50e6e4e46580 | 17 | |
| bwang | 15:b583cd30b063 | 18 | #define PI 3.141593f |
| bwang | 15:b583cd30b063 | 19 | |
| bwang | 15:b583cd30b063 | 20 | #endif |