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@@ -39,14 +39,22 @@ i_pwm_count = 4000;
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i_dead = 10;
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i_adc = 10;
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i_sample_before = 10;
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-i_Udc = 560;
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+i_Udc = 300;
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i_half_pwm_count = i_pwm_count;
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i_sample_min = (i_dead + i_adc + i_sample_before);
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i_hall_count_max = 1/Ts;
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+% Motor Paramaters
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+Rs = 0.0918;
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+Ld = 0.0009262;
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+Lq = 0.001024;
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+band_current = 3.14 * 2 * 4000;
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+% Kp = 0.0009262 * 3.14 * 8000 = 26
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+% Ki = 0.0918/0.0009262 = 99.11
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+% Kserial = 99.11 / 0.5816 = 170.42
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% Current sample parameters
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n_adc_max = 4096;
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-n_resistance = 0.005;
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+n_resistance = 0.0005;
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n_ref_vol = 3.3;
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n_gain = 17.1;
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@@ -59,6 +67,14 @@ a_elecAngle_XA = 0:res_elecAngle:360; % [deg] Electrical angle gri
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r_sin_M1 = sin((a_elecAngle_XA)*(pi/180));
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r_cos_M1 = cos((a_elecAngle_XA)*(pi/180));
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+% Speed limitations
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+n_max = 5000; % [rpm] Maximum motor speed: [-5000, 5000]
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+
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+% open loop speed -> voltage lookup table
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+res_rpm_openloop = 100;
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+delta_rpm_openloop = 100; % delta rpm that when speed decreased, enter open loop
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+min_start_voltage_openloop = 50;
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+a_rpm_step = i_Udc / (n_max / res_rpm_openloop);
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% Motor parameters
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n_polePairs = 4; % [-] Number of motor pole pairs
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a_elecPeriod = 360; % [deg] Electrical angle period
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@@ -115,14 +131,11 @@ cf_KbLimProt = 1000 / (f_ctrl/3);% [-] Back calculation gain for integral
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% Voltage Limitations
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V_margin = 0.95; % [-] Voltage margin to make sure that there is a sufficiently wide pulse for a good phase current measurement
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-Vd_max = 560 * V_margin;
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+Vd_max = i_Udc * V_margin;
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Vq_max_XA = 0:1:Vd_max;
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Vq_max_M1 = sqrt(Vd_max^2 - Vq_max_XA.^2); % Circle limitations look-up table
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-
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-% Speed limitations
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-n_max = 1000; % [rpm] Maximum motor speed: [-1500, 1500]
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-i_sca = 20; % [-] [not tunable] Scalling factor A to int16 (50 = 1/0.02)
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+i_sca = 1; % [-] [not tunable] Scalling factor A to int16 (50 = 1/0.02)
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% Current Limitations
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i_max = 100; % [A] Maximum allowed motor current (continuous)
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i_max = i_max * i_sca;
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huhui