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Duty control tweak

This commit is contained in:
Benjamin Vedder 2022-12-04 15:36:47 +01:00
parent 1b3e01e276
commit 1c75ef1ddb
1 changed files with 3 additions and 4 deletions
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7
motor/mcpwm_foc.c
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@ -2855,8 +2855,10 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
}
if (control_duty) {
float scale = 1.0 / motor_now->m_motor_state.v_bus;
// Duty cycle control
if (fabsf(duty_set) < (duty_abs - 0.05) ||
if (fabsf(duty_set) < (duty_abs - (scale * conf_now->foc_motor_r * conf_now->lo_current_max)) ||
(SIGN(motor_now->m_motor_state.vq) * motor_now->m_motor_state.iq) < conf_now->lo_current_min) {
// Truncating the duty cycle here would be dangerous, so run a PID controller.
@ -2874,9 +2876,6 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
}
}
// Compensation for supply voltage variations
float scale = 1.0 / motor_now->m_motor_state.v_bus;
// Compute error
float error = duty_set - motor_now->m_motor_state.duty_now;