2014-08-11 13:38:50 -07:00
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/*
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Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* mcconf_rccar2.h
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*
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* This configuration is for my crappy coreless inrunner. Since this motor is coreless,
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* the coupling constant is extremeley low compared to the other motors.
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*
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* Created on: 14 apr 2014
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* Author: benjamin
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*/
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#ifndef MCCONF_RCCAR2_H_
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#define MCCONF_RCCAR2_H_
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/*
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* Parameters
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*/
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#define MCPWM_CURRENT_MAX 80.0 // Current limit in Amperes (Upper)
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#define MCPWM_CURRENT_MIN -80.0 // Current limit in Amperes (Lower)
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#define MCPWM_IN_CURRENT_MAX 80.0 // Input current limit in Amperes (Upper)
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#define MCPWM_IN_CURRENT_MIN -25.0 // Input current limit in Amperes (Lower)
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#define MCPWM_MAX_ABS_CURRENT 110.0 // The maximum absolute current above which a fault is generated
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#define MCPWM_SLOW_ABS_OVERCURRENT 1 // Use the filtered (and hence slower) current for the overcurrent fault detection
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2014-09-13 14:05:50 -07:00
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#define MCPWM_CURRENT_STARTUP_BOOST 0.08 // The lowest duty cycle to use in current control mode (has to be > MCPWM_MIN_DUTY_CYCLE)
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2014-08-11 13:38:50 -07:00
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#define MCPWM_RPM_MAX 100000.0 // The motor speed limit (Upper)
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#define MCPWM_RPM_MIN -100000.0 // The motor speed limit (Lower)
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// Sensorless settings
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#define MCPWM_IS_SENSORLESS 1 // Use sensorless commutation
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2014-09-13 14:05:50 -07:00
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#define MCPWM_MIN_RPM 500 // Auto-commutate below this RPM
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2014-09-13 01:46:46 -07:00
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#define MCPWM_CYCLE_INT_LIMIT_MIN_RPM 800.0 // Minimum RPM to calculate the BEMF coupling from
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2014-09-12 14:37:33 -07:00
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#define MCPWM_CYCLE_INT_LIMIT 40.0 // Flux integrator limit 0 ERPM
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#define MCPWM_CYCLE_INT_LIMIT_HIGH_FAC 0.8 // Flux integrator limit percentage at MCPWM_CYCLE_INT_START_RPM_BR ERPM
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2014-09-13 14:05:50 -07:00
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#define MCPWM_BEMF_INPUT_COUPLING_K 60.0 // Input voltage to bemf coupling constant
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2014-08-11 13:38:50 -07:00
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// Hall sensor settings
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#define MCPWM_HALL_DIR 0 // Hall sensor direction [0 or 1]
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#define MCPWM_HALL_FWD_ADD 2 // Hall sensor offset fwd [0 to 5]
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#define MCPWM_HALL_REV_ADD 3 // Hall sensor offset rev [0 to 5]
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// Speed PID parameters
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#define MCPWM_PID_KP 0.0001 // Proportional gain
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#define MCPWM_PID_KI 0.002 // Integral gain
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#define MCPWM_PID_KD 0.0 // Derivative gain
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#define MCPWM_PID_MIN_RPM 950.0 // Minimum allowed RPM
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// Current control parameters
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#define MCPWM_CURRENT_CONTROL_GAIN 0.0046 // Current controller error gain
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#define MCPWM_CURRENT_CONTROL_MIN 1.0 // Minimum allowed current
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#endif /* MCCONF_RCCAR2_H_ */
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