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current control bandwidth lowered for high inductance wheels. TODO Make configurable

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Oskar Weigl
2018-05-17 17:07:34 -07:00
parent 689fe1512c
commit c6cf7b2132
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/motor.cpp
+1 -1
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@@ -57,7 +57,7 @@ void Motor::reset_current_control() {
// TODO: allow update on user-request or update automatically via hooks
void Motor::update_current_controller_gains() {
// Calculate current control gains
float current_control_bandwidth = 1000.0f; // [rad/s]
float current_control_bandwidth = 100.0f; // [rad/s]
current_control_.p_gain = current_control_bandwidth * config_.phase_inductance;
float plant_pole = config_.phase_resistance / config_.phase_inductance;
current_control_.i_gain = plant_pole * current_control_.p_gain;