MC100/configs/mc124_R1.yml

##### 配置文件自动生成，不要手动修改!! 2023/11/2 16:25:58
Version: 1
CheckCrc: 0
Motor:
  Poles: 5
  Ld: 4.8E-05
  Lq: 6.5E-05
  Rs: 0.011
  Flux: 0.018
  PLLBand: 200
  EpmPLL: 400
  PosPLL: 500
  VehicleW: 190
  WheelC: 145
  GearRatio: 6.25
  MaxFwDCurr: 100
  MaxTorque: 350
  EncOffset: 0
Foc:
  MaxDCVol: 90
  MinDCVol: 40
  MaxPhaseCurr: 350
  MaxRPM: 9000
  MaxEPMRPM: 300
  MaxEPMTorque: 100
  MaxEPMRPMBk: 170
  MaxEPMTorqueBk: 80
  MaxTorque: 350
  MaxEbrkTorque: 40
  MaxIDC: 100
  MaxAutoHoldTorque: 100
  ThroStartVol: 0.9
  ThroEndVol: 4
  ThroMinVol: 0.4
  ThroMaxVol: 4.6
  CurrCtrlBandWith: 800
  ThroDecTime: 50
  PID:
    VelLim:
      Kp: 0.1
      Ki: 3.5
      Kd: 0
    VelCtrl:
      Kp: 0.1
      Ki: 3.5
      Kd: 0
    Autohold:
      Kp: 0.01
      Ki: 0.2
      Kd: 0
    IDCLim:
      Kp: 5
      Ki: 15
      Kd: 0
    EPM:
      Kp: 0.2
      Ki: 7.5
      Kd: 0
Settings:
  AutoHold: 1
  BrkShutPower: 1
  TcsEnable: 1
Gear:
- MaxSpeed: 2000
  MaxTorque: 100
  MaxIdc: 30
  ZeroAccl: 500
  NormalAccl: 100
  Torque:
  - 100
  - 100
  - 100
  - 0
  - 0
  - 0
  - 0
  - 0
  - 0
  - 0
- MaxSpeed: 2800
  MaxTorque: 200
  MaxIdc: 35
  ZeroAccl: 300
  NormalAccl: 80
  Torque:
  - 100
  - 100
  - 100
  - 80
  - 0
  - 0
  - 0
  - 0
  - 0
  - 0
- MaxSpeed: 1000
  MaxTorque: 100
  MaxIdc: 30
  ZeroAccl: 500
  NormalAccl: 100
  Torque:
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 0
  - 0
- MaxSpeed: 1000
  MaxTorque: 100
  MaxIdc: 30
  ZeroAccl: 500
  NormalAccl: 100
  Torque:
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 0
  - 0
GearLow:
- MaxSpeed: 1000
  MaxTorque: 100
  MaxIdc: 30
  ZeroAccl: 500
  NormalAccl: 100
  Torque:
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 0
  - 0
- MaxSpeed: 1000
  MaxTorque: 100
  MaxIdc: 30
  ZeroAccl: 500
  NormalAccl: 100
  Torque:
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 0
  - 0
- MaxSpeed: 1000
  MaxTorque: 100
  MaxIdc: 30
  ZeroAccl: 500
  NormalAccl: 100
  Torque:
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 0
  - 0
- MaxSpeed: 1000
  MaxTorque: 100
  MaxIdc: 30
  ZeroAccl: 500
  NormalAccl: 100
  Torque:
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 100
  - 0
  - 0
Protect:
  Motor:
  - Entry: 130
    Exit: 120
    Value: 0
  - Entry: 120
    Exit: 110
    Value: 34
  - Entry: 110
    Exit: 100
    Value: 66
  MosFet:
  - Entry: 100
    Exit: 95
    Value: 0
  - Entry: 95
    Exit: 90
    Value: 34
  - Entry: 90
    Exit: 85
    Value: 66
  Voltage:
  - Entry: 40
    Exit: 42
    Value: 0
EnergyRecovery:
- Torque: 10
  Time: 600
- Torque: 10
  Time: 500
- Torque: 15
  Time: 400
- Torque: 20
  Time: 300
- Torque: 35
  Time: 200
- Torque: 40
  Time: 200
- Torque: 40
  Time: 200
- Torque: 40
  Time: 200
- Torque: 40
  Time: 200
- Torque: 40
  Time: 200
CrossZero:
  Low: 2
  High: 7
  MinStep: 0.05
  NorStep: 5