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fix ACIM estimator source for current controller

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This commit is contained in:
Oskar Weigl
2020-12-15 16:11:51 -08:00
parent e407cb4cb6
commit 8c4fb92e63
1 changed files with 8 additions and 4 deletions
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Firmware/MotorControl/axis.cpp
+8 -4
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@@ -313,14 +313,18 @@ bool Axis::start_closed_loop_control() {
motor_.current_control_.Idq_setpoint_src_.connect_to(&motor_.Idq_setpoint_);
motor_.current_control_.Vdq_setpoint_src_.connect_to(&motor_.Vdq_setpoint_);
bool is_acim = motor_.config_.motor_type == Motor::MOTOR_TYPE_ACIM;
// phase
OutputPort<float>* phase_src = sensorless_mode ? &sensorless_estimator_.phase_ : &encoder_.phase_;
motor_.current_control_.phase_src_.connect_to(phase_src);
acim_estimator_.rotor_phase_src_.connect_to(phase_src);
OutputPort<float>* stator_phase_src = is_acim ? &acim_estimator_.stator_phase_ : phase_src;
motor_.current_control_.phase_src_.connect_to(stator_phase_src);
// phase vel
OutputPort<float>* phase_vel_src = sensorless_mode ? &sensorless_estimator_.phase_vel_ : &encoder_.phase_vel_;
motor_.phase_vel_src_.connect_to(phase_vel_src);
motor_.current_control_.phase_vel_src_.connect_to(phase_vel_src);
acim_estimator_.rotor_phase_vel_src_.connect_to(phase_vel_src);
OutputPort<float>* stator_phase_vel_src = is_acim ? &acim_estimator_.stator_phase_vel_ : phase_vel_src;
motor_.phase_vel_src_.connect_to(stator_phase_vel_src);
motor_.current_control_.phase_vel_src_.connect_to(stator_phase_vel_src);
if (sensorless_mode) {
// Make the final velocity of the loĉk-in spin the setpoint of the