MC100/configs/mc_zd100.yml

##### "配置文件自动生成，不要手动修改!!"
Version: 1
CheckCrc: 0
Motor:
  Poles: 5
  Ld: 0.000045
  Lq: 0.000096
  Rs: 0.008
  Flux: 0.019
  PLLBand: 200
  EpmPLL: 400
  PosPLL: 500
  VehicleW: 190  #kg
  WheelC: 145  #cm
  GearRatio: 6.25 # 1:6.25
  MaxFwDCurr: 100
  MaxTorque: 200 #根据控制方式不同，可能是相电流，可能是真实扭矩
  EncOffset: 0
Foc:
  MaxDCVol: 110
  MinDCVol: 70
  MaxPhaseCurr: 300
  MaxRPM: 9000
  MaxEPMRPM: 300
  MaxEPMTorque: 100
  MaxEPMRPMBk: 170
  MaxEPMTorqueBk: 80
  MaxTorque: 300
  MaxEbrkTorque: 40
  MaxIDC: 100
  MaxAutoHoldTorque: 100
  ThroStartVol: 0.85
  ThroEndVol: 4.15
  ThroMinVol: 0.4
  ThroMaxVol: 4.6
  CurrCtrlBandWith: 200
  ThroDecTime: 10
  PID:  #pid controller
    VelLim:
      Kp: 0.5
      Ki: 2.5
      Kd: 0.0
    VelCtrl:
      Kp: 0.1
      Ki: 3.5
      Kd: 0.0
    Autohold:
      Kp: 0.01
      Ki: 0.2
      Kd: 0.0
    IDCLim:
      Kp: 5.0
      Ki: 15.0
      Kd: 0.0
    EPM:
      Kp: 0.2
      Ki: 7.5
      Kd: 0
Settings:
  AutoHold: 1
  BrkShutPower: 1
  TcsEnable: 0
Gear:
  - 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
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: 80
      Value: 66
  Voltage:
    - Entry: 60
      Exit:  70
      Value: 0
EnergyRecovery:  # Braking Energy Recovery
  - Torque: 0
    Time:   1000
  - Torque: 10
    Time:   500
  - Torque: 15
    Time:   400  
  - Torque: 20
    Time:   300  
  - Torque: 35
    Time:   200  
  - Torque: 40
    Time:   200  
  - Torque: 45
    Time:   200  
  - Torque: 50
    Time:   200  
  - Torque: 55
    Time:   200  
  - Torque: 60
    Time:   200
CrossZero: #扭矩过零处理
  Low: 1
  High: 7
  MinStep: 0.03
  NorStep: 5