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@@ -97,7 +97,8 @@ static void _rs_ind_timer_handler(shark_timer_t *t) {
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foc_abc_2_dq(SIGN(iabc[0]), SIGN(iabc[1]), SIGN(iabc[2]), &d, &q);
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float dtc = ((float)CONFIG_HW_DeadTime/(float)FOC_PWM_Half_Period) * motor.controller.foc.in.dc_vol * 1.5f;
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float vd = (rs_vd_now - dtc) * TWO_BY_THREE;
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- float rs = vd / (motor.controller.foc.out.curr_dq.d + 0.0001f);
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+ float id = motor.controller.foc.out.curr_dq.d;
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+ float rs = vd / (id + 0.0001f);
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rs_est_value = LowPass_Filter(rs_est_value, rs, 0.2f);
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if (rs_meas_time-- <= 0) {
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mot_params_ind_stop();
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@@ -106,7 +107,7 @@ static void _rs_ind_timer_handler(shark_timer_t *t) {
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finish = true;
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b_rs_ested = true;
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sys_debug("est rs = %f\n", rs_est_value);
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- sys_debug("vd is %f, wait %d\n", rs_vd_now, wait_iq_0_cnt);
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+ sys_debug("vd-id is %f-%f-%f, wait %d\n", rs_vd_now, id, dtc/1.5f, wait_iq_0_cnt);
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}
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}
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default:
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kevin