MC100/Applications/foc/motor/motor_param.h

#ifndef _MOTOR_PARAM_H__
#define _MOTOR_PARAM_H__
#include "bsp/bsp.h"

#ifdef MOTOR_BLUESHARK_NEW1
#define MOTOR_R   0.010f
#define MOTOR_Ld (0.000120f*0.5f)
#define MOTOR_Lq (0.000200f*0.5f)
#define MOTOR_POLES  4
#define MOTOR_ENC_OFFSET 0.0F

#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define MOTOR_NR 0x11
#elif defined MOTOR_BLUESHARK_NEW2
#define MOTOR_R   0.013f
#define MOTOR_Ld (0.000140f*0.5f)
#define MOTOR_Lq (0.000320f*0.5f)
#define MOTOR_POLES  4
#define MOTOR_ENC_OFFSET 0.0F
#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define MOTOR_NR 0x12

#elif defined MOTOR_BLUESHARK_ZD_100
#define MOTOR_R   0.008f
#define MOTOR_Ld (0.000125f*0.5f)
#define MOTOR_Lq (0.000091f*0.5f)
#define MOTOR_POLES  5
#define MOTOR_ENC_OFFSET 145.0F
#define TRQ_PI_KP 0.13F
#define TRQ_PI_KI 0.5F
#define MOTOR_NR 0x13

#elif defined MOTOR_BLUESHARK_OLD
#define MOTOR_R 0.012f
#define MOTOR_Ld (0.000143f*0.5f)
#define MOTOR_Lq (0.000205f*0.5f)
#define MOTOR_POLES  5
#define MOTOR_ENC_OFFSET 180.0F
#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define MOTOR_NR 0x14

#elif defined MOTOR_3505
//编码器电机 3505
#define MOTOR_R 0.08f
#define MOTOR_Ld 0.000032f
#define MOTOR_Lq 0.000032f
#define MOTOR_POLES  10
#define TRQ_PI_KP 0.14F
#define TRQ_PI_KI 0.15F

#define MOTOR_NR 0x15

#endif

#endif /* _MOTOR_PARAM_H__ */