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pmsm fix, curpid pwm res, mitsu params

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crinq
2015-09-09 07:02:31 +02:00
parent 28238b4747
commit 72d03eda66
3 changed files with 14 additions and 6 deletions
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src/comps/curpid.comp
+8
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@@ -29,6 +29,9 @@ HAL_PIN(kind) = 0.0;
HAL_PIN(id_error) = 0.0;
HAL_PIN(iq_error) = 0.0;
HAL_PIN(res) = 1200.0;
HAL_PIN(volt_res) = 0.0;
MEM(float id_error_sum) = 0.0;
MEM(float iq_error_sum) = 0.0;
@@ -37,6 +40,7 @@ RT(
float rq = MAX(PIN(rq), 0.1);
float ld = MAX(PIN(ld), 0.001);
float lq = MAX(PIN(lq), 0.001);
float volt_res = PIN(volt) / MAX(PIN(res), 1.0);
float volt = MAX(PIN(volt) * PIN(max_pwm) * 1.15, 0.1);
float ff = PIN(ff);
@@ -70,8 +74,12 @@ RT(
float ud = CLAMP(ff * rd * idc + kpd * id_error + kpd * kid * id_error_sum + kind * indd, -volt / 2.0, volt / 2.0);
float uq = CLAMP(ff * rq * iqc + kpq * iq_error + kpq * kiq * iq_error_sum + kind * indq, -volt / 2.0, volt / 2.0);
ud = ((int)(ud / volt_res)) * volt_res;
uq = ((int)(uq / volt_res)) * volt_res;
PIN(ud) = ud;
PIN(uq) = uq;
PIN(volt_res) = volt_res;
PIN(id_error) = id_error;
PIN(iq_error) = iq_error;
src/comps/pmsm.comp
+4 -4
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@@ -41,16 +41,16 @@ RT(
float indd = vel_e * psi_q;
float indq = vel_e * psi_d;
id += (ud - r * id - indd) / ld * period / 4.0;
id += (ud - r * id + indd) / ld * period / 4.0;
iq += (uq - r * iq - indq) / lq * period / 4.0;
id += (ud - r * id - indd) / ld * period / 4.0;
id += (ud - r * id + indd) / ld * period / 4.0;
iq += (uq - r * iq - indq) / lq * period / 4.0;
id += (ud - r * id - indd) / ld * period / 4.0;
id += (ud - r * id + indd) / ld * period / 4.0;
iq += (uq - r * iq - indq) / lq * period / 4.0;
id += (ud - r * id - indd) / ld * period / 4.0;
id += (ud - r * id + indd) / ld * period / 4.0;
iq += (uq - r * iq - indq) / lq * period / 4.0;
float t = 3.0 / 2.0 * p * (psi_m * iq + (ld - lq) * id * iq);
src/link.c
+2 -2
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@@ -713,10 +713,10 @@ void set_mitsubishi(){ // TODO
set_hal_pin("conf0.fb_rev", 0.0);
set_hal_pin("conf0.out_rev", 0.0);
set_hal_pin("conf0.fb_res", 16384.0);
set_hal_pin("conf0.r", 1.5);
set_hal_pin("conf0.r", 1.2); // 0.75, 1.2
set_hal_pin("conf0.l", 0.0025);
set_hal_pin("conf0.j", KGCM2(0.5));
set_hal_pin("conf0.psi", 0.34);
set_hal_pin("conf0.psi", 0.3); //0.3
set_hal_pin("conf0.pos_p", 50.0);
set_hal_pin("conf0.acc_p", 0.1);