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idpmsm cmd_mode fix

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crinq
2021-09-11 20:05:37 +02:00
parent 71ec816a7f
commit 6494addccc
3 changed files with 11 additions and 13 deletions
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conf/template/iddc.txt
-1
View File
@@ -23,7 +23,6 @@ iddc0.pwm_volt = hv0.pwm_volt
iddc0.pos_fb = fb_switch0.pos_fb
iddc0.vel_fb = vel1.vel
vel0.pos_in = fb_switch0.pos_fb
iddc0.vel_fb = vel1.vel
iddc0.test_cur = conf0.max_ac_cur
conf/template/idpmsm.txt
+2 -3
View File
@@ -13,8 +13,8 @@ hv0.d_cmd = idpmsm0.d_cmd
hv0.q_cmd = idpmsm0.q_cmd
hv0.pos = idpmsm0.com_pos
hv0.rev = idpmsm0.out_rev
hv0.r = idq0.r
hv0.l = idq0.l
hv0.r = idpmsm0.r
hv0.l = idpmsm0.l
idpmsm0.ud_fb = hv0.ud_fb
idpmsm0.uq_fb = hv0.uq_fb
idpmsm0.id_fb = hv0.id_fb
@@ -24,7 +24,6 @@ idpmsm0.pwm_volt = hv0.pwm_volt
idpmsm0.pos_fb = fb_switch0.mot_abs_fb_no_offset
idpmsm0.vel_fb = vel1.vel
vel0.pos_in = fb_switch0.pos_fb
idpmsm0.vel_fb = vel1.vel
idpmsm0.test_cur = conf0.max_ac_cur
shared/comps/idpmsm.c
+9 -9
View File
@@ -236,8 +236,8 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
case 22: // pp, out_rev
PIN(en_out) = 1.0;
PIN(cmd_mode) = 0.0;
PIN(cur_bw) = 1.0;
PIN(cmd_mode) = 1.0;
PIN(cur_bw) = 100.0;
PIN(q_cmd) = 0.0;
PIN(d_cmd) = PIN(test_cur);
@@ -246,7 +246,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
PIN(com_pos) = mod(PIN(com_pos));
if(ABS(PIN(vel_fb)) > 0.1){
PIN(pp) = PIN(pp) * 0.99 + PIN(test_vel) / PIN(vel_fb) * 0.01;
PIN(pp) = PIN(pp) * 0.995 + PIN(test_vel) / PIN(vel_fb) * 0.005;
}
PIN(timer) += period;
@@ -263,17 +263,17 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
}
break;
case 23:
case 23: // mot_fb_offset
PIN(en_out) = 1.0;
PIN(cmd_mode) = 0.0;
PIN(cur_bw) = 1.0;
PIN(cmd_mode) = 1.0;
PIN(cur_bw) = 100.0;
PIN(q_cmd) = 0.0;
PIN(d_cmd) += PIN(ki) * period * PIN(r) * (PIN(test_cur) - PIN(id_fb));
PIN(d_cmd) = LIMIT(PIN(d_cmd), PIN(pwm_volt));
PIN(d_cmd) = PIN(test_cur);
PIN(com_pos) = 0.0;
PIN(com_offset) = PIN(com_offset) * 0.95 - PIN(pos_fb) * 0.05;
PIN(com_offset) = PIN(com_offset) * 0.99 - PIN(pos_fb) * 0.01;
PIN(timer) += period;
if(PIN(timer) >= 2.0){