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changed max brake duty to 95 pct

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This commit is contained in:
Oskar Weigl
2020-05-01 17:11:47 -07:00
parent d002a74d24
commit edb6a1611c
1 changed files with 4 additions and 5 deletions
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Firmware/MotorControl/low_level.cpp
+4 -5
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@@ -593,16 +593,15 @@ void update_brake_current() {
// Don't start braking until -Ibus > regen_current_allowed
float brake_current = -Ibus_sum - board_config.max_regen_current;
float brake_duty = brake_current * std::abs(board_config.brake_resistance) / vbus_voltage;
float brake_duty = brake_current * board_config.brake_resistance / vbus_voltage;
if (board_config.nominal_voltage < board_config.dc_bus_overvoltage_trip_level) {
brake_duty += std::max((vbus_voltage - board_config.nominal_voltage) / (board_config.dc_bus_overvoltage_trip_level / 0.9f - board_config.nominal_voltage), 0.0f);
brake_duty += std::max((vbus_voltage - board_config.nominal_voltage) / (board_config.dc_bus_overvoltage_trip_level / 0.9f - board_config.nominal_voltage), 0.0f);
}
// Clamp the duty cycle
brake_duty = std::clamp(brake_duty, 0.0f, 0.9f);
// Duty limit at 95% to allow bootstrap caps to charge
brake_duty = std::clamp(brake_duty, 0.0f, 0.95f);
// Duty limit at 90% to allow bootstrap caps to charge
// If brake_duty is NaN, this expression will also evaluate to false
int high_on = static_cast<int>(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;