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Reduce modulation index due to slow current filters

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Oskar Weigl
2017-02-01 19:09:06 +01:00
parent 57086b36f4
commit 20f6e3ffa2
1 changed files with 3 additions and 3 deletions
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MotorControl/low_level.c
+3 -3
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@@ -211,7 +211,7 @@ static void start_adc_pwm(){
start_pwm(&htim1);
start_pwm(&htim8);
//TODO: explain why this offset
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_PERIOD_CLOCKS/2 - 128);
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_PERIOD_CLOCKS/2 - 1*128);
}
static void start_pwm(TIM_HandleTypeDef* htim){
@@ -661,8 +661,8 @@ static void FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
float mod_q = vfactor * Vq;
//Vector modulation saturation, lock integrator if saturated
//@TODO make maximum modulation configurable (currently 90%)
float mod_scalefactor = 0.90f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
//@TODO make maximum modulation configurable (currently 40%)
float mod_scalefactor = 0.40f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
if (mod_scalefactor < 1.0f)
{
mod_d *= mod_scalefactor;