mirror of https://github.com/rusefi/bldc.git
69 lines
3.1 KiB
C
69 lines
3.1 KiB
C
/*
|
|
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/*
|
|
* mcconf_sten.h
|
|
*
|
|
* Created on: 14 apr 2014
|
|
* Author: benjamin
|
|
*/
|
|
|
|
#ifndef MCCONF_STEN_H_
|
|
#define MCCONF_STEN_H_
|
|
|
|
/*
|
|
* Parameters
|
|
*/
|
|
#define MCCONF_L_CURRENT_MAX 35.0 // Current limit in Amperes (Upper)
|
|
#define MCCONF_L_CURRENT_MIN -30.0 // Current limit in Amperes (Lower)
|
|
#define MCCONF_L_MAX_ABS_CURRENT 100.0 // The maximum absolute current above which a fault is generated
|
|
#define MCCONF_L_SLOW_ABS_OVERCURRENT 1 // Use the filtered (and hence slower) current for the overcurrent fault detection
|
|
#define MCCONF_L_IN_CURRENT_MAX 25.0 // Input current limit in Amperes (Upper)
|
|
#define MCCONF_L_IN_CURRENT_MIN -20.0 // Input current limit in Amperes (Lower)
|
|
#define MCCONF_L_RPM_MAX 80000.0 // The motor speed limit (Upper)
|
|
#define MCCONF_L_RPM_MIN -80000.0 // The motor speed limit (Lower)
|
|
#define MCCONF_L_MIN_VOLTAGE 20.0 // Minimum input voltage
|
|
#define MCCONF_L_MAX_VOLTAGE 50.0 // Maximum input voltage
|
|
#define MCCONF_CC_STARTUP_BOOST_DUTY 0.02 // The lowest duty cycle to use in current control mode (has to be > MCPWM_MIN_DUTY_CYCLE)
|
|
#define MCCONF_L_RPM_LIMIT_NEG_TORQUE 0 // Use negative torque to limit the RPM
|
|
#define MCCONF_L_CURR_MAX_RPM_FBRAKE 1500 // Maximum electrical RPM to use full brake at
|
|
|
|
// Sensorless settings
|
|
#define MCCONF_SENSOR_MODE SENSOR_MODE_SENSORLESS // Sensor mode
|
|
#define MCCONF_SL_MIN_RPM 250 // Auto-commutate below this RPM
|
|
#define MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT 500.0 // Minimum RPM to calculate the BEMF coupling from
|
|
#define MCCONF_SL_CYCLE_INT_LIMIT 80.0 // Flux integrator limit 0 ERPM
|
|
#define MCCONF_SL_PHASE_ADVANCE_AT_BR 0.8 // Flux integrator limit percentage at MCPWM_CYCLE_INT_START_RPM_BR ERPM
|
|
#define MCCONF_SL_BEMF_COUPLING_K 750.0 // Input voltage to bemf coupling constant
|
|
|
|
// Speed PID parameters
|
|
#define MCCONF_S_PID_KP 0.0001 // Proportional gain
|
|
#define MCCONF_S_PID_KI 0.002 // Integral gain
|
|
#define MCCONF_S_PID_KD 0.0 // Derivative gain
|
|
#define MCCONF_S_PID_MIN_RPM 1200.0 // Minimum allowed RPM
|
|
|
|
// Position PID parameters
|
|
#define MCCONF_P_PID_KP 0.0001 // Proportional gain
|
|
#define MCCONF_P_PID_KI 0.002 // Integral gain
|
|
#define MCCONF_P_PID_KD 0.0 // Derivative gain
|
|
|
|
// Current control parameters
|
|
#define MCCONF_CC_GAIN 0.0046 // Current controller error gain
|
|
#define MCCONF_CC_MIN_CURRENT 0.05 // Minimum allowed current
|
|
|
|
#endif /* MCCONF_STEN_H_ */
|