Benjamin Vedder
5304872a92
Added missing bracket from PR
2021-10-31 09:35:52 +01:00
Kenn Sebesta
d97793bf7b
Update mcpwm_foc.c
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Co-authored-by: kalvdans <github@kalvdans.no-ip.org>
2021-10-27 14:14:27 -04:00
Kenn Sebesta
0e58e29072
[MCPWM_FOC] Fix mislabeled variable
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It's not estimated RPM, it's estimated rad/sec.
2021-10-27 14:09:10 -04:00
Kenn Sebesta
8de85899b7
[Convenience math] Capture a last couple laggards which were missed earlier
2021-10-27 14:08:35 -04:00
Benjamin Vedder
78887f35cf
Added link to forum post as comment to explain factor 4
2021-10-25 12:39:54 +02:00
Benjamin Vedder
f1c4e713d7
Added MTPA modes
2021-10-24 18:10:00 +02:00
Benjamin Vedder
98587c961b
Updated inductance calculation, include motor saliency in observer, separate setting for MTPA
2021-10-24 13:25:12 +02:00
Benjamin Vedder
8cf082e0e0
Better bus current estimation, HFI max voltage and duty scaling fix
2021-10-16 12:54:33 +02:00
Benjamin Vedder
b1f564c3bb
Merge pull request #352 from kubark42/convenience_math
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Use convenience macros for deg/rad conversions
2021-10-15 22:35:47 +02:00
Benjamin Vedder
d8a99fd0f1
Inductance and resistance measurement and scaling fixes, various other fixes
2021-10-15 22:25:07 +02:00
Kenn Sebesta
bec06ac85a
[Utils] Change convenience multiplication factors into convenience MACROs
2021-10-13 14:18:05 -04:00
Kenn Sebesta
aeb5d74488
[Utils] Use convenience macros for deg/rad conversions
2021-10-13 11:52:04 -04:00
Benjamin Vedder
86cbc92b8d
Fixed regression in sensorless braking
2021-08-20 21:36:44 +02:00
Benjamin Vedder
4603ff5d4e
Change filtered duty cycle to absolute value
2021-08-16 20:33:26 +02:00
Benjamin Vedder
741dd2b38a
Speed PID fixes
2021-07-14 19:59:34 +02:00
Benjamin Vedder
3c88ecb7aa
Added configurable PID loop rate and more AUX port modes
2021-07-12 14:31:01 +02:00
Benjamin Vedder
804f49b2a8
Moved position control loop to 1 khz timer
2021-07-11 21:10:14 +02:00
Benjamin Vedder
1ab25a47db
Added position PID offset support and KD_PROC term
2021-07-11 20:19:26 +02:00
Benjamin Vedder
75b84f1f2d
Added kill switch support
2021-06-13 13:46:27 +02:00
Benjamin Vedder
93b405add9
Merge branch 'master' into dev_fw_5_03
2021-05-24 08:49:05 +02:00
Benjamin Vedder
3d2aad0977
Take current limit into account when going to full brake
2021-05-20 18:13:40 +02:00
Benjamin Vedder
fdad367c8d
limit mc_interface_set_current_off_delay time to 5s
2021-05-20 00:57:26 +02:00
Benjamin Vedder
934d7b9751
Locking around stop code, added mc_interface_set_current_off_delay
2021-05-15 15:24:39 +02:00
Benjamin Vedder
c30a93119a
Wait for input voltage to rise and settle before attempting offset calibration at boot
2021-05-13 11:45:30 +02:00
Chas Leichner
3aaaeaf3a3
Correct spelling, broken links, and missing parameters in documentation
2021-05-07 15:27:50 -07:00
Benjamin Vedder
0d6a9824e4
Use fast speed tracker for BEMF decoupling
2021-05-07 09:47:45 +02:00
Benjamin Vedder
7a0e560e8b
Lowpass filter input voltage and battery level
2021-04-27 17:48:15 +02:00
Benjamin Vedder
f25144cc30
Removed iterative observer, added p_pid_gain_dec_angle
2021-04-26 23:14:05 +02:00
Benjamin Vedder
99b0cb79d2
Limit hall sensor angle rate of change based on ERPM
2021-04-26 17:57:49 +02:00
Benjamin Vedder
14b25e9aa4
Added foc_fw_q_current_factor
2021-04-15 10:04:28 +02:00
Benjamin Vedder
ac360ae7f6
Give D-axis current priority when limiting current, added mcpwm_foc_set_current_off_delay
2021-04-14 22:29:50 +02:00
Benjamin Vedder
3d57ed2f06
Cleanup
2021-04-11 19:38:55 +02:00
Benjamin Vedder
9a00234346
Merge pull request #282 from powerdesigns/ipm_bemf_decoupling
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bemf_decoupling: improved math for IPM motors.
2021-04-11 19:36:35 +02:00
Maximiliano Cordoba
c7819a8722
speed_pid: improved integral term antiwindup.
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-we feedback the output saturation to the integral term to improve the antiwindup mechanism.
Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
2021-04-11 11:59:22 -03:00
Maximiliano Cordoba
fbd35f15ad
bemf_decoupling: improved math for IPM motors.
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-In IPM motors (ld_lq_diff > 0) Ld affects in the Q axis, and Lq affects in the D axis.
Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
2021-04-11 10:51:09 -03:00
Benjamin Vedder
1469e2568d
Field weakening updates
2021-04-11 11:31:25 +02:00
Maximiliano Cordoba
31d14e1c4e
mc_pwm_foc: simplified math in current PI antiwindup
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Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
2021-04-10 20:02:15 -03:00
Benjamin Vedder
1da747e50f
Use filtered currents for cross bemf decoupling
2021-04-10 16:31:02 +02:00
Benjamin Vedder
feb1be5fbd
First attempt at field weakening and current controller windup protection improvement
2021-04-10 11:37:35 +02:00
Benjamin Vedder
2133d21fbc
Avoid numerical instability when utils_map is used over a range that approaches 0
2021-03-27 11:18:47 +01:00
Benjamin Vedder
8b9e3bf93f
Offset calibration improvements
2021-03-24 13:09:05 +01:00
Benjamin Vedder
3b4e601f61
Offset calibration update
2021-03-22 12:13:19 +01:00
Benjamin Vedder
89c4d712e8
HFI-Start fixes
2021-03-13 15:41:57 +01:00
Benjamin Vedder
c82346b42e
Added HFI start sensor mode
2021-03-13 11:42:23 +01:00
Benjamin Vedder
8900c41c34
First phase filter and offset calibration attempt
2021-02-28 20:36:02 +01:00
Benjamin Vedder
66b4d8f56d
Added FOC D axis controller gain scaling at max modulation
2020-12-06 21:33:08 +01:00
Benjamin Vedder
b7b0182856
CAN fixes, renamed HD to HD60, fixed multiturn position control
2020-11-18 14:26:55 +01:00
Till Rosenband
64d9132389
Remove some #ifdef HAS_DUAL_MOTORS.
2020-10-28 08:31:47 -04:00
Benjamin Vedder
af7cd36cb8
Added hall sensor interpolation ERPM config option
2020-10-22 08:37:32 +02:00
Benjamin Vedder
c77f92470b
IO board support, initial bms support, more openloop parameters, removed D current injection, added new HWs
2020-10-09 21:08:48 +02:00