TI中文支持网Part Number:DRV8343-Q1Other Parts Discussed in Thread: DRV8323
Dear team,
目前遇到電機加載時DRV8343S產生的電流回授訊號SOA、SOB、SOC會有異常的突起，想詢問此現象是如何發生的?該如何解決?謝謝~
驅動板電路
測試波形
Cherry Zhou：
好的收到了，我们来升级到英文论坛看下，会尽快给您答复。
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Cherry Zhou：
您能否在这些电压尖峰上以更放大的窗口共享示波器图像？ 获得相应的输入 PWM 波形也很有用，因为工程师主要想看下这些尖峰在 PWM 周期中可能发生的位置。
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chunting Liu：
Dear Cherry,
測試波形如下，再麻煩您，謝謝
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Cherry Zhou：
好的，工程师应该会在这周结束前给到您答复。
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chunting Liu：
Dear Cherry,
感謝您的回覆，我這邊還有類似問題想要詢問，關於上圖CH4(紫色，DC-LINK)的波形跳動劇烈，漣波超過20A，此現象使我沒辦法再繼續加大電流，強制加載會導致控制器損壞，有猜測可能是與DRV8343S的電流回授失真有關，希望能夠協助改善
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Cherry Zhou：
好的我们一起跟进给工程师了。
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Cherry Zhou：
您好，
对于 SOA 上的尖峰来说，可能会有一些电感尖峰，因为尖峰的时序与 UH PWM 信号从完全低电平变为高电平(占空比)的开始/结束相关。 但是我们建议在低侧 FET 导通时具体采样 SOx，因为此时电流将流经电流感应分流电阻器。 这可能会产生更预期的波形，但如果您仍然看到尖峰，那我们可以考虑其他原因，例如之前提到的电感。
关于直流链路电流，换向期间电机流入电池的电流会产生纹波。 只要电源电压不超过器件的绝对最大额定值，就是没问题的。但是如果您看到这些纹波导致器件电源电压超过限制，那么此应用就需要高额定驱动器。
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chunting Liu：
Dear Cherry,
SOA上的尖峰確實與UL PWM對應，UL PWM處於High的狀態下時產生尖峰，且PWM High的時間越長則尖鋒時間越長。若此尖峰為預期的實際波形，那是否能表示上述圖中所造成的驅動異常並非此尖峰問題影響，而是SOA、B、C的整體波形變形為非弦波狀態造成?
想請問改如何改善加載後的SOA、B、C波形異常的問題?目前使目標整低通濾波器的方式進行，固定電阻為1KΩ、調整電容由1nF~15nF，最終測試出當前的6.8nF(Low Pass 23.4KHz)為最佳配比，但仍無法達到目標，請問有什麼改善建議嗎?謝謝
另外擷取了一段目前最大負載下的波形，DC電流趨近100A，漣波跳動很劇烈，SOA、SOB、SOC波形嚴重失真，相電流也有出現異常狀況
以上，再麻煩協助，謝謝~
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Cherry Zhou：
好的跟进给工程师了。
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Cherry Zhou：
请参阅 DRV8343-Q1数据表中第8.3.4.1节中的公式3。 该公式显示了预期的输出 SOx。 如果输出 SOx 与该公式不匹配，那么系统就可能会出现问题，而如果结果匹配，那在给定该系统参数的情况下，这些输出是会在预期内的。
关于滤波方面，请参阅此应用手册，特别是电流感应滤波布局的最佳实践： https://www.ti.com/lit/an/slva959b/slva959b.pdf?ts=1683836782300。 如果对 SOx 的滤波有更多担心的话，以下文档包含更深入的电流感应放大和滤波说明：https://www.ti.com/lit/eb/slyy154a/slyy154a.pdf?ts=1686695679621&ref_url=https%253A%252F%252Fwww.google.com%252F
波形本身的性质取决于换向算法。 非正弦换向会产生扭矩纹波。 如果这些纹波会导致问题，那么比电机驱动器本身更需要考虑换向算法。
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chunting Liu：
Dear Cherry,
感謝您的意見，上述文件對於Layout設計很有幫助，但Layout需要一段時間設計及洗板才能知道成果如何。
若以目前來說程式可以進行什麼樣的調整?
程式目前使用"universal_motorcontrol_lab_f28002x"的Sample Code，只在Sample Code的基礎上將DRV8323的SPI協議更改為DRV8343，並對"user_mtr1.h"進行user的參數配置而已，至於換向算法設定如下圖所示，再麻煩協助謝謝~
//############################################################################# // $Copyright: // Copyright (C) 2017-2023 Texas Instruments Incorporated - http://www.ti.com/ // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // //Redistributions of source code must retain the above copyright //notice, this list of conditions and the following disclaimer. // //Redistributions in binary form must reproduce the above copyright //notice, this list of conditions and the following disclaimer in the //documentation and/or other materials provided with the //distribution. // //Neither the name of Texas Instruments Incorporated nor the names of //its contributors may be used to endorse or promote products derived //from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // $ //#############################################################################//! \file/solutions/universal_motorcontrol_lab/common/include/user_mtr1.h //! \briefContains the user related definitions //!This file is used for each device includes F28002x, F28003x, F280013x, //!F280015x, and the other newer C2000 MCUs. //!#ifndef USER_MTR1_H #define USER_MTR1_H//***************************************************************************** // // If building with a C++ compiler, make all of the definitions in this header // have a C binding. // //***************************************************************************** #ifdef __cplusplus extern "C" { #endif//***************************************************************************** // //! \defgroup USER USER_MTR1 //! @{ // //*****************************************************************************// // the includes // platforms #include "hal.h"// modules #include "userParams.h"#include "user_common.h"// ***************************************************************************** // the defines//------------------------------------------------------------------------------ #if defined(HVMTRPFC_REV1P1)// Bypass the 820k resistor for low voltage motor on this kit //#define LV_JUMPER_EN// Bypass the 820k resistor#ifndef LV_JUMPER_EN //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(220.0f)//! \brief Defines the maximum voltage at the AD converter //Full scale voltage of AD converter, not the current voltage #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(409.90f)//! \brief Defines the analog voltage filter pole location, Hz //! #define USER_M1_VOLTAGE_FILTER_POLE_Hz(375.55f)#else// Populate jumpers on J1/J2/J3/J4 for short R20/R23/R26/R37 for low voltage motor //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(24.0f)//! \brief Defines the maximum voltage at the AD converter //Full scale voltage of AD converter, not the current voltage #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(112.21f)//! \brief Defines the analog voltage filter pole location, Hz //! #define USER_M1_VOLTAGE_FILTER_POLE_Hz(381.15f) #endif// High Voltage motor control kit #if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC) //! \brief Defines the maximum current at the AD converter #define USER_M1_ADC_FULL_SCALE_CURRENT_A(19.995f)//! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(-1.0f)//! \brief ADC current offsets for dc-link #define USER_M1_IDC_OFFSET_A(9.997f)//! \brief ADC current offsets for dc-link #define USER_M1_IDC_OFFSET_AD(2048.0f)#define USER_M1_IDC_OFFSET_AD_MAX(USER_M1_IDC_OFFSET_AD + 100.0f) #define USER_M1_IDC_OFFSET_AD_MIN(USER_M1_IDC_OFFSET_AD - 100.0f) #else// !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS) //! \brief Defines the maximum current at the AD converter #define USER_M1_ADC_FULL_SCALE_CURRENT_A(19.995f)//! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(1.0f) #endif// !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)//! \brief ADC current offsets for A, B, and C phases #define USER_M1_IA_OFFSET_AD(2049.367f) #define USER_M1_IB_OFFSET_AD(2042.771f) #define USER_M1_IC_OFFSET_AD(2054.451f)//! \brief ADC current offset for CMPSS #define USER_M1_IS_OFFSET_CMPSS(uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)//! \brief ADC voltage offsets for A, B, and C phases #define USER_M1_VA_OFFSET_SF(0.503290117f) #define USER_M1_VB_OFFSET_SF(0.500881076f) #define USER_M1_VC_OFFSET_SF(0.497107089f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_FAULT_V(380.0f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_NORM_V(350.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_FAULT_V(12.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_NORM_V(15.0f)//! \brief motor lost phase current threshold #define USER_M1_LOST_PHASE_CURRENT_A(0.2f)//! \brief motor unbalance ratio percent threshold #define USER_M1_UNBALANCE_RATIO(0.2f)//! \brief motor over load power threshold #define USER_M1_OVER_LOAD_POWER_W(250.0f)//! \brief motor stall current threshold #define USER_M1_STALL_CURRENT_A(10.0f)//! \brief motor fault check current threshold #define USER_M1_FAULT_CHECK_CURRENT_A(0.2f)//! \brief motor failed maximum speed threshold #define USER_M1_FAIL_SPEED_MAX_HZ(500.0f)//! \brief motor failed minimum speed threshold #define USER_M1_FAIL_SPEED_MIN_HZ(5.0f)//! \brief Defines the number of failed torque //! #define USER_M1_TORQUE_FAILED_SET(0.000001f) // end of HVMTRPFC_REV1P1 //------------------------------------------------------------------------------ #elif defined(DRV8329AEVM_REVA)// LaunchPad-F280025 //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(48.0f)//! \brief Defines the maximum voltage at the AD converter #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(76.04549098f)// 110k/4.99k//! \brief Defines the analog voltage filter pole location, Hz #define USER_M1_VOLTAGE_FILTER_POLE_Hz(326.6255675f)// 110k/4.99k/100nF//! \brief Defines the maximum current at the AD converter //! Set the gain of the CSA, the value should be set accordingly. //! CSAGAIN=5V/V(J2=GND), CSAGAIN=10V/V(J2=50K), CSAGAIN=20V/V(J2=200K), CSAGAIN=40V/V(J2=DNP) //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(82.5f)// Rs=0.001/gain=40/J2=DNP //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(66.0f)// Rs=0.0025/gain=20/J2=200K #define USER_M1_ADC_FULL_SCALE_CURRENT_A(33.0f)// Rs=0.0025/gain=40/J2=DNP// Single shunt #if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC) //! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin (+) of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin (-) of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(1.0f)//! \brief ADC current offsets for dc-link // the dc-link offset current for DRV8329AEVM_REVA #define USER_M1_IDC_OFFSET_A(USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)//! \brief ADC current offsets for dc-link #define USER_M1_IDC_OFFSET_AD(516.717f)//~=4096.0/8.0//! \brief ADC current offset for CMPSS #define USER_M1_IDC_OFFSET_CMPSS(uint16_t)(USER_M1_IDC_OFFSET_AD)#define USER_M1_IDC_OFFSET_AD_MAX(USER_M1_IDC_OFFSET_AD + 100.0f) #define USER_M1_IDC_OFFSET_AD_MIN(USER_M1_IDC_OFFSET_AD - 100.0f) #else //!MOTOR1_DCLINKSS| !MOTOR1_ISBLDC #error This inverter board only supports single shunt! #endif// !MOTOR1_DCLINKSS| !MOTOR1_ISBLDC//! \brief ADC voltage offsets for A, B, and C phases #define USER_M1_VA_OFFSET_SF(0.507042527f) #define USER_M1_VB_OFFSET_SF(0.505379438f) #define USER_M1_VC_OFFSET_SF(0.50771445f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_FAULT_V(54.5f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_NORM_V(52.5f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_FAULT_V(8.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_NORM_V(10.0f)//! \brief motor lost phase current threshold #define USER_M1_LOST_PHASE_CURRENT_A(0.01f)//! \brief motor unbalance ratio percent threshold #define USER_M1_UNBALANCE_RATIO(0.2f)//! \brief motor over load power threshold #define USER_M1_OVER_LOAD_POWER_W(90.0f)//! \brief motor stall current threshold #define USER_M1_STALL_CURRENT_A(10.0f)//! \brief motor fault check current threshold #define USER_M1_FAULT_CHECK_CURRENT_A(0.2f)//! \brief motor failed maximum speed threshold #define USER_M1_FAIL_SPEED_MAX_HZ(1800.0f)//! \brief motor failed minimum speed threshold #define USER_M1_FAIL_SPEED_MIN_HZ(5.0f)//! \brief Defines the number of failed torque //! #define USER_M1_TORQUE_FAILED_SET(0.000001f)// end of DRV8329AEVM_REVA //------------------------------------------------------------------------------ #elif defined(BSXL8323RS_REVA) //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(12.0f)//! \brief Defines the maximum voltage at the AD converter //#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(60.87f)// 4.7/(4.7+82) #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(42.62f)// 4.7/(4.7+56) //#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(64.87f)// 4.99/(4.99+93.1), DRV8343S-EVM//! \brief Defines the analog voltage filter pole location, Hz #define USER_M1_VOLTAGE_FILTER_POLE_Hz(781.0f)// caps=47nF//! \brief Defines the maximum current at the AD converter //Rshunt=7momh //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(94.28571429f)// CSA_GAIN=5VpV //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(47.14285714f)// CSA_GAIN=10VpV //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(23.57142857f)// CSA_GAIN=20VpV//Rshunt=2momh //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(330.0f)// CSA_GAIN=5VpV //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(165.0f)// CSA_GAIN=10VpV //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(82.5f)// CSA_GAIN=20VpV//Rshunt=1momh #define USER_M1_ADC_FULL_SCALE_CURRENT_A(660.0f)// CSA_GAIN=5VpV //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(330.0f)// CSA_GAIN=10VpV //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(165.0f)// CSA_GAIN=20VpV#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC) //! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(-1.0f)//! \brief ADC current offsets for dc-link // the dc-link offset current for BSXL8323RS_REVA #define USER_M1_IDC_OFFSET_A(USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)//! \brief ADC current offsets for A, B, and C phases #define USER_M1_IDC_OFFSET_AD(2048.0f)#define USER_M1_IDC_OFFSET_AD_MAX(USER_M1_IDC_OFFSET_AD + 100.0f) #define USER_M1_IDC_OFFSET_AD_MIN(USER_M1_IDC_OFFSET_AD - 100.0f)#else //!MOTOR1_DCLINKSS //! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(1.0f)//! \brief ADC current offsets for A, B, and C phases // the ADC current offsets for A/B/C phases, one-time hardware dependent //#define USER_M1_IA_OFFSET_AD(2030.99646f) //#define USER_M1_IB_OFFSET_AD(2016.76001f) //#define USER_M1_IC_OFFSET_AD(2007.99329f) #define USER_M1_IA_OFFSET_AD(2048.0f) #define USER_M1_IB_OFFSET_AD(2048.0f) #define USER_M1_IC_OFFSET_AD(2048.0f)//! \brief ADC current offset for CMPSS #define USER_M1_IS_OFFSET_CMPSS(uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)//! \brief ADC voltage offsets for A, B, and C phases // the ADC voltage offsets for A/B/C phases, one-time hardware dependent #define USER_M1_VA_OFFSET_SF(0.498977453f) #define USER_M1_VB_OFFSET_SF(0.497419506f) #define USER_M1_VC_OFFSET_SF(0.500700474f) #endif// !MOTOR1_DCLINKSS//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_FAULT_V(54.5f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_NORM_V(52.5f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_FAULT_V(8.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_NORM_V(10.0f)//! \brief motor lost phase current threshold #define USER_M1_LOST_PHASE_CURRENT_A(0.2f)//! \brief motor unbalance ratio percent threshold #define USER_M1_UNBALANCE_RATIO(0.2f)//! \brief motor over load power threshold #define USER_M1_OVER_LOAD_POWER_W(1500.0f)//! \brief motor stall current threshold #define USER_M1_STALL_CURRENT_A(10.0f)//! \brief motor fault check current threshold #define USER_M1_FAULT_CHECK_CURRENT_A(0.2f)//! \brief motor failed maximum speed threshold #define USER_M1_FAIL_SPEED_MAX_HZ(1500.0f)//! \brief motor failed minimum speed threshold #define USER_M1_FAIL_SPEED_MIN_HZ(5.0f)//! \brief Defines the number of failed torque //! unit: N.m #define USER_M1_TORQUE_FAILED_SET(0.000001f)// end of BSXL8323RS_REVA //------------------------------------------------------------------------------ #elif defined(BSXL8323RH_REVB)// LaunchPad-F280025 //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(48.0f)//! \brief Defines the maximum voltage at the AD converter #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(57.52845691f)//! \brief Defines the analog voltage filter pole location, Hz #define USER_M1_VOLTAGE_FILTER_POLE_Hz(680.4839141f)// 47nF//! \brief Defines the maximum current at the AD converter //! Place a 47k(ohm) resistor (R22) pull-down on MODE pin #define USER_M1_ADC_FULL_SCALE_CURRENT_A(47.14285714f)// gain=10#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC) //! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(-1.0f)//! \brief ADC current offsets for dc-link // the dc-link offset current for BSXL8323RH_REVB #define USER_M1_IDC_OFFSET_A(USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)//! \brief ADC current offsets for dc-link #define USER_M1_IDC_OFFSET_AD(2048.0f)#define USER_M1_IDC_OFFSET_AD_MAX(USER_M1_IDC_OFFSET_AD + 100.0f) #define USER_M1_IDC_OFFSET_AD_MIN(USER_M1_IDC_OFFSET_AD - 100.0f) #else //!MOTOR1_DCLINKSS //! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(1.0f)//! \brief ADC current offsets for A, B, and C phases #define USER_M1_IA_OFFSET_AD(2045.40015f) #define USER_M1_IB_OFFSET_AD(2012.86694f) #define USER_M1_IC_OFFSET_AD(2031.59741f)//! \brief ADC current offset for CMPSS #define USER_M1_IS_OFFSET_CMPSS(uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)//! \brief ADC voltage offsets for A, B, and C phases #define USER_M1_VA_OFFSET_SF(0.507042527f) #define USER_M1_VB_OFFSET_SF(0.505379438f) #define USER_M1_VC_OFFSET_SF(0.50771445f) #endif// !MOTOR1_DCLINKSS//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_FAULT_V(54.5f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_NORM_V(52.5f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_FAULT_V(8.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_NORM_V(10.0f)//! \brief motor lost phase current threshold #define USER_M1_LOST_PHASE_CURRENT_A(0.01f)//! \brief motor unbalance ratio percent threshold #define USER_M1_UNBALANCE_RATIO(0.2f)//! \brief motor over load power threshold #define USER_M1_OVER_LOAD_POWER_W(90.0f)//! \brief motor stall current threshold #define USER_M1_STALL_CURRENT_A(10.0f)//! \brief motor fault check current threshold #define USER_M1_FAULT_CHECK_CURRENT_A(0.2f)//! \brief motor failed maximum speed threshold #define USER_M1_FAIL_SPEED_MAX_HZ(1800.0f)//! \brief motor failed minimum speed threshold #define USER_M1_FAIL_SPEED_MIN_HZ(5.0f)//! \brief Defines the number of failed torque //! #define USER_M1_TORQUE_FAILED_SET(0.000001f)// end of BSXL8323RH_REVB //------------------------------------------------------------------------------ #elif defined(BSXL8353RS_REVA) //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(48.0f)//! \brief Defines the maximum voltage at the AD converter #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(132.7979508f)//! \brief Defines the analog voltage filter pole location, Hz #define USER_M1_VOLTAGE_FILTER_POLE_Hz(338.1100618f)// 9.76k/47nF//! \brief Defines the maximum current at the AD converter //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(94.28571429f)// gain=5 #define USER_M1_ADC_FULL_SCALE_CURRENT_A(47.14285714f)// gain=10#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC) //! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(-1.0f) #error "Single shunt is not supported on this kit" #else //!MOTOR1_DCLINKSS //! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(1.0f)//! \brief ADC current offsets for A, B, and C phases #define USER_M1_IA_OFFSET_AD(2048.0f) #define USER_M1_IB_OFFSET_AD(2048.0f) #define USER_M1_IC_OFFSET_AD(2048.0f)//! \brief ADC current offset for CMPSS #define USER_M1_IS_OFFSET_CMPSS(uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)//! \brief ADC voltage offsets for A, B, and C phases #define USER_M1_VA_OFFSET_SF(0.500514159f) #define USER_M1_VB_OFFSET_SF(0.506255884f) #define USER_M1_VC_OFFSET_SF(0.503381569f) #endif// !MOTOR1_DCLINKSS//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_FAULT_V(40.0f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_NORM_V(36.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_FAULT_V(10.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_NORM_V(12.0f)//! \brief motor lost phase current threshold #define USER_M1_LOST_PHASE_CURRENT_A(0.2f)//! \brief motor unbalance ratio percent threshold #define USER_M1_UNBALANCE_RATIO(0.2f)//! \brief motor over load power threshold #define USER_M1_OVER_LOAD_POWER_W(50.0f)//! \brief motor stall current threshold #define USER_M1_STALL_CURRENT_A(10.0f)//! \brief motor fault check current threshold #define USER_M1_FAULT_CHECK_CURRENT_A(0.2f)//! \brief motor failed maximum speed threshold #define USER_M1_FAIL_SPEED_MAX_HZ(500.0f)//! \brief motor failed minimum speed threshold #define USER_M1_FAIL_SPEED_MIN_HZ(5.0f)//! \brief Defines the number of failed torque //! #define USER_M1_TORQUE_FAILED_SET(0.000001f) // end of BSXL8353RS_REVA//------------------------------------------------------------------------------ #elif defined(BSXL3PHGAN_REVA) //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(48.0f)//! \brief Defines the maximum voltage at the AD converter #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(81.49905213f)//! \brief Defines the analog voltage filter pole location, Hz #define USER_M1_VOLTAGE_FILTER_POLE_Hz(1103.026917f)// 33nF//! \brief Defines the maximum current at the AD converter #define USER_M1_ADC_FULL_SCALE_CURRENT_A(33.0f)// gain=20//! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the inline shunt resistor is connected to the //!output of the three-phase power inverter and is also connected to //!the inverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is positive that //!means the same pin of the inline shunt resistor is connected to the //!output of the three-phase power inverter and is also connected to //!the non-inverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(-1.0f)//! \brief ADC current offsets for A, B, and C phases #define USER_M1_IA_OFFSET_AD(2048.0f) #define USER_M1_IB_OFFSET_AD(2048.0f) #define USER_M1_IC_OFFSET_AD(2048.0f)//! \brief ADC current offset for CMPSS #define USER_M1_IS_OFFSET_CMPSS(uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)//! \brief ADC voltage offsets for A, B, and C phases #define USER_M1_VA_OFFSET_SF(0.500514159f) #define USER_M1_VB_OFFSET_SF(0.506255884f) #define USER_M1_VC_OFFSET_SF(0.503381569f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_FAULT_V(40.0f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_NORM_V(36.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_FAULT_V(10.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_NORM_V(12.0f)//! \brief motor lost phase current threshold #define USER_M1_LOST_PHASE_CURRENT_A(0.2f)//! \brief motor unbalance ratio percent threshold #define USER_M1_UNBALANCE_RATIO(0.2f)//! \brief motor over load power threshold #define USER_M1_OVER_LOAD_POWER_W(50.0f)//! \brief motor stall current threshold #define USER_M1_STALL_CURRENT_A(10.0f)//! \brief motor fault check current threshold #define USER_M1_FAULT_CHECK_CURRENT_A(0.2f)//! \brief motor failed maximum speed threshold #define USER_M1_FAIL_SPEED_MAX_HZ(500.0f)//! \brief motor failed minimum speed threshold #define USER_M1_FAIL_SPEED_MIN_HZ(5.0f)//! \brief Defines the number of failed torque //! #define USER_M1_TORQUE_FAILED_SET(0.000001f) // end of BSXL3PHGAN_REVA//------------------------------------------------------------------------------ #elif defined(BSXL8316RT_REVA) //! \brief Defines the nominal DC bus voltage, V //! #define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V(48.0f)//! \brief Defines the maximum voltage at the AD converter #define USER_M1_ADC_FULL_SCALE_VOLTAGE_V(44.28f)//! \brief Defines the analog voltage filter pole location, Hz #define USER_M1_VOLTAGE_FILTER_POLE_Hz(284.722f)// 100nF//! \brief Defines the maximum current at the AD converter //!DRV8316 = VREF = 3V, GAIN = 0.15V/A || 3.3V / 0.15V/A = 22.0A //!GAIN = 0.30V/A || 3.3V / 0.30V/A = 11.0A //!GAIN = 0.60V/A || 3.3V / 0.60V/A = 5.50A //!GAIN = 1.20V/A || 3.3V / 1.20V/A = 2.75A //! Change this ADC scale current value that must match the CSA gain in hal.c #define USER_M1_ADC_FULL_SCALE_CURRENT_A(22.0f)// GAIN = 0.15V/A //#define USER_M1_ADC_FULL_SCALE_CURRENT_A(11.0f)// GAIN = 0.30V/A//! \brief Defines the sign of the current_sf based on //!the polarity of the current feedback circuit //! //!the "sign" = -1.0f if the current feedback polarity is positive that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the inverting pin of the operational amplifier //! //!the "sign" = 1.0f if the current feedback polarity is negative that //!means the same pin of the shunt resistor is connected to ground and //!is also connected to the noninverting pin of the operational amplifier #define USER_M1_SIGN_CURRENT_SF(1.0f)//! \brief ADC current offsets for A, B, and C phases #define USER_M1_IA_OFFSET_AD(1869.6f) #define USER_M1_IB_OFFSET_AD(1877.3f) #define USER_M1_IC_OFFSET_AD(1876.9f)//! \brief ADC current offset for CMPSS #define USER_M1_IS_OFFSET_CMPSS(uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)//! \brief ADC voltage offsets for A, B, and C phases #define USER_M1_VA_OFFSET_SF(0.477463514f) #define USER_M1_VB_OFFSET_SF(0.479326069f) #define USER_M1_VC_OFFSET_SF(0.477675498f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_FAULT_V(40.0f)//! \brief DC bus over voltage threshold #define USER_M1_OVER_VOLTAGE_NORM_V(36.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_FAULT_V(10.0f)//! \brief DC bus under voltage threshold #define USER_M1_UNDER_VOLTAGE_NORM_V(12.0f)//! \brief motor lost phase current threshold #define USER_M1_LOST_PHASE_CURRENT_A(0.2f)//! \brief motor unbalance ratio percent threshold #define USER_M1_UNBALANCE_RATIO(0.2f)//! \brief motor over load power threshold #define USER_M1_OVER_LOAD_POWER_W(50.0f)//! \brief motor stall current threshold #define USER_M1_STALL_CURRENT_A(10.0f)//! \brief motor fault check current threshold #define USER_M1_FAULT_CHECK_CURRENT_A(0.2f)//! \brief motor failed maximum speed threshold #define USER_M1_FAIL_SPEED_MAX_HZ(500.0f)//! \brief motor failed minimum speed threshold #define USER_M1_FAIL_SPEED_MIN_HZ(5.0f)//! \brief Defines the number of failed torque //! #define USER_M1_TORQUE_FAILED_SET(0.000001f) // end of BSXL8316RT_REVA //------------------------------------------------------------------------------ //------------------------------------------------------------------------------//------------------------------------------------------------------------------ #else// No Board Selection #error The board parameters are not defined in user_mtr1.h #endif// No Board Selection//------------------------------------------------------------------------------ //! \brief ADC current offsets checking value for A, B, and C phases // the error threshold to check if the ADC offset of the phase current sensing circuit is correct. #define USER_M1_IS_OFFSET_AD_DELTA(150.0f)// The value is 0.0f~1024.0f// the high threshold of the ADC offsets checking value for A/B/C phase current #define USER_M1_IA_OFFSET_AD_MAX(USER_M1_IA_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA) #define USER_M1_IB_OFFSET_AD_MAX(USER_M1_IB_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA) #define USER_M1_IC_OFFSET_AD_MAX(USER_M1_IC_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA)// the low threshold of the ADC offsets checking value for A phase current #define USER_M1_IA_OFFSET_AD_MIN(USER_M1_IA_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA) #define USER_M1_IB_OFFSET_AD_MIN(USER_M1_IB_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA) #define USER_M1_IC_OFFSET_AD_MIN(USER_M1_IC_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA)#define USER_M1_IS_OFFSET_AD_MAX(USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD + (USER_M1_IS_OFFSET_AD_DELTA * 3.0f)) #define USER_M1_IS_OFFSET_AD_MIN(USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD - (USER_M1_IS_OFFSET_AD_DELTA * 3.0f))//! \brief ADC voltage offsets for A, B, and C phases // the error threshold to check if the ADC offset of the phase voltage sensing circuit is correct #define USER_M1_VA_OFFSET_SF_DELTA(0.05f)// The value is 0.0f ~ 0.5f// the high threshold of the ADC offsets checking value for A/B/C phase voltage #define USER_M1_VA_OFFSET_SF_MAX(USER_M1_VA_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA) #define USER_M1_VB_OFFSET_SF_MAX(USER_M1_VB_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA) #define USER_M1_VC_OFFSET_SF_MAX(USER_M1_VC_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA)// the low threshold of the ADC offsets checking value for A/B/C phase voltage #define USER_M1_VA_OFFSET_SF_MIN(USER_M1_VA_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA) #define USER_M1_VB_OFFSET_SF_MIN(USER_M1_VB_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA) #define USER_M1_VC_OFFSET_SF_MIN(USER_M1_VC_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA)#define USER_M1_VS_OFFSET_SF_MAX(USER_M1_VA_OFFSET_SF + USER_M1_VB_OFFSET_SF + USER_M1_VC_OFFSET_SF + (USER_M1_VA_OFFSET_SF_DELTA * 3.0f)) #define USER_M1_VS_OFFSET_SF_MIN(USER_M1_VA_OFFSET_SF + USER_M1_VB_OFFSET_SF + USER_M1_VC_OFFSET_SF - (USER_M1_VA_OFFSET_SF_DELTA * 3.0f))//****************************************************************************** //! \brief Defines the number of pwm clock ticks per isr clock tick //!Note: Valid values are 1, 2 or 3 only #define USER_M1_NUM_PWM_TICKS_PER_ISR_TICK(2)//! \brief Defines the number of ISR clock ticks per current controller clock tick //! #define USER_M1_NUM_ISR_TICKS_PER_CURRENT_TICK(1)//! \brief Defines the number of ISR clock ticks per speed controller clock tick //! #define USER_M1_NUM_ISR_TICKS_PER_SPEED_TICK(10)//! \brief Defines the number of current sensors //! #define USER_M1_NUM_CURRENT_SENSORS(3)//! \brief Defines the number of voltage sensors //! #define USER_M1_NUM_VOLTAGE_SENSORS(3)//! \brief Defines the Pulse Width Modulation (PWM) frequency, kHz //! #define USER_M1_PWM_FREQ_kHz(40.0f) #define USER_M1_PWM_TBPRD_NUM(uint16_t)(USER_SYSTEM_FREQ_MHz * 1000.0f / USER_M1_PWM_FREQ_kHz / 2.0f)//! \brief Defines the Pulse Width Modulation (PWM) period, usec //! #define USER_M1_PWM_PERIOD_usec(1000.0f / USER_M1_PWM_FREQ_kHz)//! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz //! #define USER_M1_ISR_FREQ_Hz(USER_M1_PWM_FREQ_kHz * 1000.0f / (float32_t)USER_M1_NUM_PWM_TICKS_PER_ISR_TICK)//! \brief Defines the Interrupt Service Routine (ISR) period, usec //! #define USER_M1_ISR_PERIOD_usec(USER_M1_PWM_PERIOD_usec * (float32_t)USER_M1_NUM_PWM_TICKS_PER_ISR_TICK)//! \brief Defines the direct voltage (Vd) scale factor //! #define USER_M1_VD_SF(0.95f)//! \brief Defines the voltage scale factor for the system //! #define USER_M1_VOLTAGE_SF(USER_M1_ADC_FULL_SCALE_VOLTAGE_V / 4096.0f)//! \brief Defines the current scale factor for the system //! #define USER_M1_CURRENT_SF(USER_M1_ADC_FULL_SCALE_CURRENT_A / 4096.0f)//! \brief Defines the current scale invert factor for the system //! #define USER_M1_CURRENT_INV_SF(4096.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A)//! \brief Defines the analog voltage filter pole location, rad/s //! #define USER_M1_VOLTAGE_FILTER_POLE_rps(MATH_TWO_PI * USER_M1_VOLTAGE_FILTER_POLE_Hz)//! \brief Defines the maximum Vs magnitude in per units allowed //! \brief This value sets the maximum magnitude for the output of the Id and //! \brief Iq PI current controllers. The Id and Iq current controller outputs //! \brief are Vd and Vq. The relationship between Vs, Vd, and Vq is: //! \brief Vs = sqrt(Vd^2 + Vq^2).In this FOC controller, the Vd value is set //! \brief equal to USER_MAX_VS_MAG*USER_VD_MAG_FACTOR. //! \brief so the Vq value is set equal to sqrt(USER_MAX_VS_MAG^2 - Vd^2). //! //! \brief Set USER_MAX_VS_MAG = 0.5 for a pure sinewave with a peak at //! \brief SQRT(3)/2 = 86.6% duty cycle.No current reconstruction //! \brief is needed for this scenario. //! //! \brief Set USER_MAX_VS_MAG = 1/SQRT(3) = 0.5774 for a pure sinewave //! \brief with a peak at 100% duty cycle.Current reconstruction //! \brief will be needed for this scenario (Lab08). //! //! \brief Set USER_MAX_VS_MAG = 2/3 = 0.6666 to create a trapezoidal //! \brief voltage waveform.Current reconstruction will be needed //! \brief for this scenario (Lab08). //! //! \brief For space vector over-modulation, see lab08 for details on //! \brief system requirements that will allow the SVM generator to //! \brief go all the way to trapezoidal. //! //#define USER_M1_MAX_VS_MAG_PU(0.66f) //#define USER_M1_MAX_VS_MAG_PU(0.65f) #define USER_M1_MAX_VS_MAG_PU(0.576f) //#define USER_M1_MAX_VS_MAG_PU(0.565f) //#define USER_M1_MAX_VS_MAG_PU(0.5f)//! \brief Defines the reference Vs magnitude in per units allowed //! \Set the value equal from 0.5 to 0.95 of the maximum Vs magnitude #define USER_M1_VS_REF_MAG_PU(0.8f * USER_MAX_VS_MAG_PU)//! \brief Defines the R/L excitation frequency, Hz //! #define USER_M1_R_OVER_L_EXC_FREQ_Hz(300.0f)//! \brief Defines the R/L Kp scale factor, pu //! \brief Kp used during R/L is USER_M1_R_OVER_L_KP_SF * USER_M1_NOMINAL_DC_BUS_VOLTAGE_V / USER_MOTOR1_MAX_CURRENT_A; //! #define USER_M1_R_OVER_L_KP_SF(0.02f)//! \brief Defines maximum acceleration for the estimation speed profiles, Hz/sec //! #define USER_M1_MAX_ACCEL_Hzps(2.0f)//! \brief Defines the controller execution period, usec //! #define USER_M1_CTRL_PERIOD_usec((float32_t)USER_M1_ISR_PERIOD_usec)//! \brief Defines the controller execution period, sec //! #define USER_M1_CTRL_PERIOD_sec((float32_t)USER_M1_CTRL_PERIOD_usec / 1000000.0f)//! \brief Defines the IdRated delta to use during estimation //! #define USER_M1_IDRATED_DELTA_A(0.0001f)#if defined(_FULL_FAST_LIB) //! \brief Defines the forced angle frequency, Hz #define USER_M1_FORCE_ANGLE_FREQ_Hz(1.0f)//! \brief Defines the forced angle acceleration, Hz #define USER_M1_FORCE_ANGLE_ACCEL_Hzps(10.0f) #else// !_FULL_FAST_LIB //! \brief Defines the forced angle frequency, Hz #define USER_M1_FORCE_ANGLE_FREQ_Hz(1.0f) #endif// !_FULL_FAST_LIB//! \brief Defines the near zero speed limit for electrical frequency estimation, Hz //!The flux integrator uses this limit to regulate flux integration #define USER_M1_FREQ_NEARZEROSPEEDLIMIT_Hz(0.0f)//! \brief Defines the fraction of IdRated to use during inductance estimation //! #define USER_M1_IDRATED_FRACTION_FOR_L_IDENT(0.5f)//! \brief Defines the fraction of SpeedMax to use during inductance estimation //! #define USER_M1_SPEEDMAX_FRACTION_FOR_L_IDENT(1.0f)//! \brief Defines the Power Warp gain for computing Id reference //! #define USER_M1_PW_GAIN(1.0f)//! \brief Defines the pole location for the DC bus filter, rad/sec //! #define USER_M1_DCBUS_POLE_rps(100.0f)//! \brief Defines the pole location for the voltage and current offset estimation, rad/s //! #define USER_M1_OFFSET_POLE_rps(20.0f)//! \brief Defines the pole location for the speed control filter, rad/sec //! #define USER_M1_SPEED_POLE_rps(100.0f)//! \brief Defines the pole location for the direction filter, rad/sec //! #define USER_M1_DIRECTION_POLE_rps(MATH_TWO_PI * 10.0f)//! \brief Defines the pole location for the flux estimation, rad/sec //! #define USER_M1_FLUX_POLE_rps(10.0f)//! \brief Defines the pole location for the R/L estimation, rad/sec //! #define USER_M1_R_OVER_L_POLE_rps(MATH_TWO_PI * 3.2f)//! \brief Defines the convergence factor for the estimator //! #define USER_M1_EST_KAPPAQ(1.5f)//! \brief Defines the scale factor for the flux estimation //! the default value is 1.0f, change the value between 0.1f and 1.25f //! //#define USER_M1_EST_FLUX_HF_SF(0.120f) #define USER_M1_EST_FLUX_HF_SF(0.250f) //#define USER_M1_EST_FLUX_HF_SF(1.00f)//! \brief Defines the scale factor for the frequency estimation //! the default value is 1.0f, change the value between 0.5f and 1.5f //! #define USER_M1_EST_FREQ_HF_SF(1.00f)//! \brief Defines the scale factor for the bemf estimation //! the default value is 1.0f, change the value between 0.50f and 1.25f //! #define USER_M1_EST_BEMF_HF_SF(1.00f)//------------------------------------------------------------------------------ //! brief Define the Kp gain for Field Weakening Control #define USER_M1_FWC_KP0.0525f//! brief Define the Ki gain for Field Weakening Control #define USER_M1_FWC_KI0.00325f//! brief Define the maximum current vector angle for Field Weakening Control #define USER_M1_FWC_MAX_ANGLE-15.0f// degree #define USER_M1_FWC_MAX_ANGLE_RADUSER_M1_FWC_MAX_ANGLE /180.0f * MATH_PI// rad//! brief Define the minimum current vector angle for Field Weakening Control #define USER_M1_FWC_MIN_ANGLE0.0f// degree #define USER_M1_FWC_MIN_ANGLE_RADUSER_M1_FWC_MIN_ANGLE /180.0f * MATH_PI// rad//! \brief Defines the number of DC bus over/under voltage setting time //!timer base = 5ms #define USER_M1_VOLTAGE_FAULT_TIME_SET(500U)// in 5ms//! \brief Defines the number of motor over load setting time //!timer base = 5ms, 1s #define USER_M1_OVER_LOAD_TIME_SET(200U)//! \brief Defines the number of motor stall setting time //!timer base = 5ms, 1s #define USER_M1_STALL_TIME_SET(200U)//! \brief Defines the number of phase unbalanced setting time //!timer base = 5ms, 5s #define USER_M1_UNBALANCE_TIME_SET(1000U)//! \brief Defines the number of lost phase setting time //!timer base = 5ms, 10s #define USER_M1_LOST_PHASE_TIME_SET(2000U)//! \brief Defines the number of over speed setting time //!timer base = 5ms #define USER_M1_OVER_SPEED_TIME_SET(600U)//! \brief Defines the number of startup failed setting time //!timer base = 5ms, 10s #define USER_M1_STARTUP_FAIL_TIME_SET(2000U)//! \brief Defines the number of over load setting times //! #define USER_M1_OVER_CURRENT_TIMES_SET(5U)//! \brief Defines the number of stop wait time //!timer base = 5ms, 10s #define USER_M1_STOP_WAIT_TIME_SET(2000U)//! \brief Defines the number of restart wait time //!timer base = 5ms, 10s #define USER_M1_RESTART_WAIT_TIME_SET(2000U)//! \brief Defines the number of restart times when has a fault //! #define USER_M1_START_TIMES_SET(3U)//! \brief Defines the alignment time //!timer base = 5ms, 10s #define USER_M1_ALIGN_TIME_SET(2000U)//! \brief Defines the QEP unit ticks #define USER_M1_QEP_UNIT_TIMER_TICKS(uint32_t)(USER_SYSTEM_FREQ_MHz/(2.0f * USER_M1_ISR_FREQ_Hz) * 1000000.0f)//! \brief Defines the current filter pole location, Hz #define USER_M1_IS_FILTER_POLE_Hz(7500.0f)// 7.5kHz//! \brief Defines the current filter pole location, rad/s //! #define USER_M1_IS_FILTER_POLE_rps(MATH_TWO_PI * USER_M1_IS_FILTER_POLE_Hz)//! \brief Defines the voltage filter pole location, Hz #define USER_M1_VS_FILTER_POLE_Hz(30000.0f)// 30.0kHz//! \brief Defines the voltage filter pole location, rad/s //! #define USER_M1_VS_FILTER_POLE_rps(MATH_TWO_PI * USER_M1_VS_FILTER_POLE_Hz)//============================================================================== // Only a few listed motor below are tested with the related algorithm as the comments // Motor defines // High voltage PMSM Motors //#define USER_MOTOR1 Estun_EMJ_04APB22//* Tested, FAST/eSMO/ENC //#define USER_MOTOR1 Anaheim_BLWS235D//* Tested, FAST//#define USER_MOTOR1 CHMotor_WM_Test //#define USER_MOTOR1 Anaheim_BLZ362S //#define USER_MOTOR1 ziehlab_Fan160hv//* Tested, FAST/eSMO //#define USER_MOTOR1 embpast_Fan160hv//* Tested, FAST/eSMO //#define USER_MOTOR1 GMCC_KSK89D53U//* Tested, FAST/eSMO //#define USER_MOTOR1 QXA_A091ZE190A//* Tested, FAST/eSMO //#define USER_MOTOR1 Baldor_BSM90N175//* Tested, FAST/eSMO //#define USER_MOTOR1 Marathon_N56PNRA10102//* Tested, FAST// Low Voltage PMSM Motors //#define USER_MOTOR1 Anaheim_BLY172S_24V//* Tested, FAST/eSMO/HALL/ENC(MD) //#define USER_MOTOR1 Teknic_M2310PLN04K//* Tested, FAST/eSMO/ENC/HALL //#define USER_MOTOR1 Nedic_EPSMS037_D12V //#define USER_MOTOR1 Anaheim_BLY341S_48V //#define USER_MOTOR1 Anaheim_BLY341S_Y24V //#define USER_MOTOR1 Anaheim_BLY341S_D24V //#define USER_MOTOR1 Drone_DJI920KV//* Tested, FAST //#define USER_MOTOR1 Drone_BLK2BLADE//* Tested, FAST //#define USER_MOTOR1 Drone_SENSEFLY//* Tested, FAST //#define USER_MOTOR1 Drone_SF_Black//* Tested, FAST //#define USER_MOTOR1 Drone9616_110KV_48V//* Tested, FAST//#define USER_MOTOR1 Tamagawa_TS4606N8302//* Tested, FAST/Resolver //#define USER_MOTOR1 AKM21G_CK9NGE00//* Tested, FAST/sin&cos encoder//#define USER_MOTOR1 AirFan_MFA0500_24V//* Tested, FAST //#define USER_MOTOR1 Tool_Makita_GFD01//* Tested, FAST// ACI Motor //#define USER_MOTOR1 Marathon_5K33GN2A //#define USER_MOTOR1 Marathon_56H17T2011A //#define USER_MOTOR1 Dayton_3N352C //#define USER_MOTOR1 EMSYNERGY_LVACI#define USER_MOTOR1 my_pm_motor_1 //#define USER_MOTOR1 my_aci_motor_2//------------------------------------------------------------------------------ #if (USER_MOTOR1 == Teknic_M2310PLN04K) // the motor type #define USER_MOTOR1_TYPEMOTOR_TYPE_PM// the number of pole pairs of the motor #define USER_MOTOR1_NUM_POLE_PAIRS(4)// the rotor resistance value of the motor, in Ohm #define USER_MOTOR1_Rr_Ohm(NULL)// the stator resistance value of the motor, in Ohm #define USER_MOTOR1_Rs_Ohm(0.393955578f)// the stator inductance value of the motor in the direct direction, in H #define USER_MOTOR1_Ls_d_H(0.000190442806f)// the stator inductance value of the motor in the quadrature direction, in H #define USER_MOTOR1_Ls_q_H(0.000190442806f)// the rated flux value of the motor, in V/Hz #define USER_MOTOR1_RATED_FLUX_VpHz(0.0399353318f)// the Id rated current value of the motor, in A. Induction motors only #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL)// the maximum current value for stator resistance (R_s) identification, in A #define USER_MOTOR1_RES_EST_CURRENT_A(1.5f)// the maximum current value to use for stator inductance identification, in A #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0f)// the maximum current value of the motor, in A #define USER_MOTOR1_MAX_CURRENT_A(6.6f)// the R/L excitation frequency for motor parameters identification, in Hz #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(60.0f)// the inertia that describes the amount of mass, in Kg.m2 #define USER_MOTOR1_INERTIA_Kgm2(7.06154e-06)// the rated voltage of the motor, V #define USER_MOTOR1_RATED_VOLTAGE_V(24.0f)// V// the minimum rotation frequency if the motor (Hz) #define USER_MOTOR1_FREQ_MIN_Hz(9.0f)// Hz// the maximum/base rotation frequency of the motor (Hz) #define USER_MOTOR1_FREQ_MAX_Hz(600.0f)// Hz// V/f Profile Parameters for open-loop in build level 2 // the low frequency f_lowof V/f profile, in Hz, // set to 10% of rated motor frequency #define USER_MOTOR1_FREQ_LOW_Hz(5.0f)// Hz// the high frequency f_high of V/f profile, in Hz, // set to 100% of rated motor frequency #define USER_MOTOR1_FREQ_HIGH_Hz(400.0f)// Hz// the minimum voltage V_minof V/f profile, // the value is suggested to set to 15% of rated motor voltage, in Volt. #define USER_MOTOR1_VOLT_MIN_V(1.0f)// Volt// the maximum voltage,V_max of V/f profile, // the value is suggested to set to 100% of rated motor voltage, in Volt #define USER_MOTOR1_VOLT_MAX_V(24.0f)// Volt// the current increasing delta value for running the motor with force open-loop , in A #define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A// the current increasing delta value for motor rotor alignment, in A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A// the current for running the motor with force open-loop, in A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A// the current for motor rotor alignment, in A #define USER_MOTOR1_ALIGN_CURRENT_A(1.5f)// A// the current for start to run motor with closed-loop when the speed is //lower than the startup setting speed, in A #define USER_MOTOR1_STARTUP_CURRENT_A(3.5f)// A// the current for running the motor with torque control mode when start the motor, in A. #define USER_MOTOR1_TORQUE_CURRENT_A(3.0f)// A// the over-current threshold for the motor, in A. // The value can be set to 50%~300% of the rated current of the motor #define USER_MOTOR1_OVER_CURRENT_A(7.5f)// A// the speed threshold for start the motor, in Hz #define USER_MOTOR1_SPEED_START_Hz(35.0f)// Hz// the speed threshold for running the motor with force open-loop, in Hz #define USER_MOTOR1_SPEED_FORCE_Hz(30.0f)// Hz// the acceleration for start the motor, in Hz/s. #define USER_MOTOR1_ACCEL_START_Hzps(10.0f)// Hz/s// the maximum acceleration for running the motor, in Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)// Hz/s// the speed threshold for running the motor with flying start mode, in Hz #define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Hz// the current for motor brake, in A. #define USER_MOTOR1_BRAKE_CURRENT_A(1.0f)// A// the duration time for motor brake, in 5ms time base #define USER_MOTOR1_BRAKE_TIME_DELAY(12000U)// 60s/5ms#if defined(MOTOR1_FAST) // the slope coefficient for Ld compensation, (0.0f~0.5f) #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f// the slope coefficient for Lq compensation, (0.0f~0.5f) #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f// the minimum inductance coefficient for inductance compensation, (0.0f~0.5f) #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f// the near zero speed limit for electrical frequency estimation, Hz. // The flux integrator uses this limit to regulate flux integration #define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz// the waiting time without enabling the Rs online clibrartion,in 5ms #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base// the the duration time with enabling the Rs online clibrartion,in 5ms #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base #endif// MOTOR1_FAST#if defined(MOTOR1_ESMO) // Only for eSMO // PLL (phase-locked loop) // PID proportional, integral, derivative // the sliding mode control maximum gain that equals to Ke*fmax/vscale/sqrt(2)*factor(max), //tune the factor(0.1~10) based the test status #define USER_MOTOR1_KSLIDE_MAX(0.50f)// the sliding mode control minimum gain that equals to Ke*fmin/vscale/sqrt(2)*factor(min), //tune the factor(0.1~10) based the test status #define USER_MOTOR1_KSLIDE_MIN(0.10f)// the PLL control maximum gain that equals to 2*(Damping factor)*(Natural frequency)*factor(max), // tune the factor(0.1~10) based the test status #define USER_MOTOR1_PLL_KP_MAX(10.0f)// the PLL control minimum gain that equals to 2*(Damping factor)*(Natural frequency)*factor(min), // tune the factor(0.1~5) based the test status #define USER_MOTOR1_PLL_KP_MIN(1.50f)// the PLL control gain adjusting coefficient that // equals to (Kpll_max-Kpll_min)/fscale/fmax #define USER_MOTOR1_PLL_KP_SF(5.0f)// the phase-locked loop control integration gain that // equals to (Natural frequency)*(Natural frequency)*Ts #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve// the threshold of the estimated current error for sliding mode control that // equals to (motor maximum BEMF voltage / rated voltage), (0.3~0.5 ) #define USER_MOTOR1_BEMF_THRESHOLD(0.5f)// the parameters of the low-pass filter for the estimated back EMF, // Kslf equal to (fc*2*PI()*Ts), (0.5~2.5) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// the offset coefficient to compensate the error by using // the low-pass filter that equals to 1.0, or [0.5~1.5] #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// the cut-off frequency of the low-pass filter to calculate the estimated speed, (100~400) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f) #endif// MOTOR1_ESMO#if defined(MOTOR1_ENC) // Only for encoder #define USER_MOTOR1_NUM_ENC_SLOTS(1000)// lines #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// lines #endif// MOTOR1_ENC#if defined(MOTOR1_HALL) // Only for hall sensor #define USER_MOTOR1_HALL_DELTA_rad(MATH_TWO_PI / 36.0f)// rad #endif// MOTOR1_HALL#if defined(MOTOR1_ISBLDC) // Only for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(3.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(5)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f) #endif// MOTOR1_ISBLDC// Current and Speed PI Regulators Tuning Coefficient // the low speed threshold for adjusting the Kp and Ki of the speed PI regulator #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f)// 10%~50% of the rated speed// the high speed threshold for adjusting the Kp and Ki of the speed PI regulator #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)// 50%~100% of the rated speed// the gain coefficient to adjust the Kp of the speed PI regulator for startup #define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0// the gain coefficient to adjust the Ki of the speed PI regulator for startup #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0// the low gain coefficientto adjust the Kp of the speed PI regulator #define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0// the low gain coefficientto adjust the Ki of the speed PI regulator #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0// the high gain coefficientto adjust the Kp of the speed PI regulator #define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0// the high gain coefficientto adjust the Ki of the speed PI regulator #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0// the low current threshold to adjust the Kp and Ki of the q-axis current PI regulator #define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f)// 10%~50% of the rated current// the high current threshold to adjust the Kp and Ki of the q-axis current PI regulator #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)// 50%~100% of the rated current// the gain coefficient to adjust the Kp of the q-axis current PI regulator for startup #define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0// the gain coefficient to adjust the Ki of the q-axis current PI regulator for startup #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0// the low gain coefficient to adjust the Kp of the q-axis current PI regulator #define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0// the low gain coefficient to adjust the Ki of the q-axis current PI regulator #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0// the high gain coefficient to adjust the Kp of the d-axis current PI regulator #define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0// the high gain coefficient to adjust the Ki of the d-axis current PI regulator #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0// the gain coefficient to adjust the Kp of the q-axis current PI regulator #define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0// the gain coefficient to adjust the Ki of the q-axis current PI regulator #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0//----------------------------------------------------------------------------- #elif (USER_MOTOR1 == Estun_EMJ_04APB22) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(0.0f) #define USER_MOTOR1_Rs_Ohm(2.62655902f) #define USER_MOTOR1_Ls_d_H(0.00860825367f) #define USER_MOTOR1_Ls_q_H(0.00860825367f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.377903223f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.0f) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0f) #define USER_MOTOR1_MAX_CURRENT_A(5.0f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0f) #define USER_MOTOR1_NUM_ENC_SLOTS(2500) #define USER_MOTOR1_INERTIA_Kgm2(3.100017e-5)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_RATED_VOLTAGE_V(200.0f) #define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.0f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(1.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(4.5f)// A#define USER_MOTOR1_SPEED_START_Hz(30.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f)// Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)// Hz/s#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0//------------------------------------------------------------------------------ #elif (USER_MOTOR1 == Tool_Makita_GFD01) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(NULL)// 15kHz //#define USER_MOTOR1_Rs_Ohm(0.0253030714f) //#define USER_MOTOR1_Ls_d_H(2.89102645e-05f) //#define USER_MOTOR1_Ls_q_H(2.89102645e-05f) //#define USER_MOTOR1_RATED_FLUX_VpHz(0.0242515542f)//// 25kHz //#define USER_MOTOR1_Rs_Ohm(0.0250713862f) //#define USER_MOTOR1_Ls_d_H(2.84397684e-05f) //#define USER_MOTOR1_Ls_q_H(2.84397684e-05f) //#define USER_MOTOR1_RATED_FLUX_VpHz(0.0242347941f)// 20kHz #define USER_MOTOR1_Rs_Ohm(0.0379858911f) #define USER_MOTOR1_Ls_d_H(0.000106012929f) #define USER_MOTOR1_Ls_q_H(0.000106012929f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0138726495f)#define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(5.0f) #define USER_MOTOR1_IND_EST_CURRENT_A(-3.5f) #define USER_MOTOR1_MAX_CURRENT_A(25.0f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(100.0f) #define USER_MOTOR1_INERTIA_Kgm2(7.06154e-06)// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(36.0f)// V #define USER_MOTOR1_FREQ_MIN_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(1500.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(1500.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(3.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(36.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.0f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(8.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(5.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(26.5f)// A#define USER_MOTOR1_SPEED_START_Hz(35.0f)// Hz #define USER_MOTOR1_SPEED_FORCE_Hz(30.0f)// Hz #define USER_MOTOR1_ACCEL_START_Hzps(50.0f)// Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(200.0f)// Hz/s#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Hz#define USER_MOTOR1_BRAKE_CURRENT_A(1.0f)// A #define USER_MOTOR1_BRAKE_TIME_DELAY(12000U)// 60s/5ms// Only for encoder #define USER_MOTOR1_NUM_ENC_SLOTS(1000)// lines #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// lines// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.50f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(1.50f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// Only for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(3.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(5)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration with FAST #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Controller Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0//----------------------------------------------------------------------------------------- #elif (USER_MOTOR1 == CHMotor_WM_Test) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(8) #define USER_MOTOR1_Rr_Ohm(0.0f) #define USER_MOTOR1_Rs_Ohm(3.56442809f) #define USER_MOTOR1_Ls_d_H(0.0478876233f) #define USER_MOTOR1_Ls_q_H(0.0478876233f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.377903223f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.0f) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0f) #define USER_MOTOR1_MAX_CURRENT_A(5.0f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0f) #define USER_MOTOR1_NUM_ENC_SLOTS(2500) #define USER_MOTOR1_INERTIA_Kgm2(3.100017e-5)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_RATED_VOLTAGE_V(200.0f) #define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.0f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(2.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(4.5f)// A#define USER_MOTOR1_SPEED_START_Hz(30.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f)// Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)// Hz/s#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Marathon_N56PNRA10102) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(3) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(2.21783066f) #define USER_MOTOR1_Ls_d_H(0.0271135084f) #define USER_MOTOR1_Ls_q_H(0.0271135084f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.575999975f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.5f) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0f) #define USER_MOTOR1_MAX_CURRENT_A(5.0f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(20.0f) #define USER_MOTOR1_NUM_ENC_SLOTS(2500) #define USER_MOTOR1_INERTIA_Kgm2(6.300017e-5)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(200.0f)// V #define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.0f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(2.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(4.5f)// A#define USER_MOTOR1_SPEED_START_Hz(30.0f)// Hz #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f)// Hz #define USER_MOTOR1_ACCEL_START_Hzps(10.0f)// Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)// Hz/s#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 1.5f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 2.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 1.0f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 200.0f// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(12000U)// 1min/60s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(12000U)//1min/60s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0//------------------------------------------------------------------------------ #elif (USER_MOTOR1 == Tamagawa_TS4606N8302) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(NULL)#define USER_MOTOR1_Rs_Ohm(0.214345068f) #define USER_MOTOR1_Ls_d_H(0.000486983976f) #define USER_MOTOR1_Ls_q_H(0.000486983976f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0441591553f)#define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(2.0f) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0f) #define USER_MOTOR1_MAX_CURRENT_A(8.5f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(60.0f) #define USER_MOTOR1_INERTIA_Kgm2(7.06154e-06)// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(3.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0f)// Volt#define USER_MOTOR1_RATED_VOLTAGE_V(24.0f)// V #define USER_MOTOR1_FREQ_MIN_Hz(9.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(600.0f)// Hz#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.5f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(3.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(3.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(7.5f)// A#define USER_MOTOR1_SPEED_START_Hz(5.0f)// Hz #define USER_MOTOR1_SPEED_FORCE_Hz(5.0f)// Hz #define USER_MOTOR1_ACCEL_START_Hzps(10.0f)// Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)// Hz/s#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Hz#define USER_MOTOR1_BRAKE_CURRENT_A(1.0f)// A #define USER_MOTOR1_BRAKE_TIME_DELAY(12000U)// 60s/5ms// for Rs online calibration with FAST #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Only for encoder #define USER_MOTOR1_NUM_ENC_SLOTS(1000)// lines #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// lines// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.50f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(1.50f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// Only for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(3.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(5)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// Resolver related parameters defines #define USER_M1_PEXC_OFFSET_SET(1574.6f) #define USER_M1_PEXC_SCALE_SF_SET(0.5f / 2048.0f)#define USER_M1_PSIN_OFFSET_SET(1849.927f) #define USER_M1_PCOS_OFFSET_SET(1849.2431f)#define USER_M1_PSIN_SCALE_SF_SET(0.0015059217f) #define USER_M1_PCOS_SCALE_SF_SET(0.0015136319f)// Decouple the main PWM frequency and resolver frequency // Note that the ratio between PWM frequency resolver sampling frequency // have to be integer value #define USER_MOTOR1_RESOLVER_EXCITE_FREQUENCY(10.0f)// 10.0kHz #define USER_MOTOR1_RESOLVER_SAMPLE_FREQUENCY(20.0f)#define USER_MOTOR1_RESOLVER_EXC_PWM_FREQUENCY\(USER_MOTOR1_RESOLVER_EXCITE_FREQUENCY * 20.0)// 200kHz// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1 #define USER_MOTOR1_RESOLVER_ADC_PWM_TICKS\((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_RESOLVER_SAMPLE_FREQUENCY) * \500.0f - 1.0f)#define USER_MOTOR1_RESOLVER_DAC_PWM_TICKS\((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_RESOLVER_EXC_PWM_FREQUENCY) * \1000.0f - 1.0f)#define USER_MOTOR1_RESOLVER_PLL_OMEGA(200.0f * MATH_TWO_PI) #define USER_MOTOR1_RESOLVER_PLL_ZETA(0.7f) #define USER_MOTOR1_RESOLVER_PLL_COMP_GAIN(-4.6585E-5f)#define USER_MOTOR1_RESOLVER_PLL_LPF_BW(100.0f)// Unit: Hz// Bias between Resolver zero and Id #define USER_MOTOR1_RESOLVER_POS_BIAS(-1.05097198f)// Unit: rad#define USER_MOTOR1_RESOLVER_THETA_BIAS_RAD(-1.05097198f)// Unit: rad #define USER_MOTOR1_RESOLVER_LPF_FC_HZ(100.0f)// Unit: Hz #define USER_MOTOR1_RESOLVER_SCOS_LPF_HZ(5000.0f)// Unit: Hz #define USER_MOTOR1_RESOLVER_CALIB_LPF_HZ(200.0f)// unit: Hz// sin/cos encoder related parameters defines #define USER_M1_PSINAB_OFFSET_SET(1928.65234f) #define USER_M1_PCOSAB_OFFSET_SET(1866.88171f)#define USER_M1_PSINAB_SCALE_SF_SET(0.5f / 2048.0f) #define USER_M1_PCOSAB_SCALE_SF_SET(0.5f / 2048.0f)#define USER_M1_PSINCD_OFFSET_SET(1928.65234f) #define USER_M1_PCOSCD_OFFSET_SET(1866.88171f)#define USER_M1_PSINCD_SCALE_SF_SET(0.5f / 2048.0f) #define USER_M1_PCOSCD_SCALE_SF_SET(0.5f / 2048.0f)#define USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY(20.0f)#define USER_MOTOR1_PSINCOS_PULSE_LINES(2048.0f)// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1 #define USER_MOTOR1_PSINCOS_ADC_PWM_TICKS\((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY) * \500.0f - 1.0f)#define USER_MOTOR1_PSINCOS_PLL_OMEGA(200.0f * MATH_TWO_PI) #define USER_MOTOR1_PSINCOS_PLL_ZETA(0.7f) #define USER_MOTOR1_PSINCOS_PLL_COMP_GAIN(-4.6585E-5f)#define USER_MOTOR1_PSINCOS_PLL_LPF_BW(100.0f)// Unit: Hz// Bias between Resolver zero and Id #define USER_MOTOR1_PSINCOSAB_POS_BIAS(-1.05097198f)// Unit: rad #define USER_MOTOR1_PSINCOSCD_POS_BIAS(-1.05097198f)// Unit: rad#define USER_MOTOR1_PSINCOS_THETA_BIAS_RAD(2.33111715f)// Unit: rad #define USER_MOTOR1_PSINCOS_LPF_FC_HZ(100.0f)// Unit: Hz #define USER_MOTOR1_PSINCOS_SCOS_LPF_HZ(1000.0f)// unit: Hz #define USER_MOTOR1_PSINCOS_CALIB_LPF_HZ(200.0f)// unit: Hz// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0//------------------------------------------------------------------------------ #elif (USER_MOTOR1 == AKM21G_CK9NGE00) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(3) #define USER_MOTOR1_Rr_Ohm(NULL)#define USER_MOTOR1_Rs_Ohm(0.724585772f) #define USER_MOTOR1_Ls_d_H(0.00115217688f) #define USER_MOTOR1_Ls_q_H(0.00115217688f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.105363153f)#define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(2.0f) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0f) #define USER_MOTOR1_MAX_CURRENT_A(8.5f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(60.0f) #define USER_MOTOR1_INERTIA_Kgm2(7.06154e-06)// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(3.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0f)// Volt#define USER_MOTOR1_RATED_VOLTAGE_V(24.0f)// V #define USER_MOTOR1_FREQ_MIN_Hz(9.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(600.0f)// Hz#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.5f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(3.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(3.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(7.5f)// A#define USER_MOTOR1_SPEED_START_Hz(5.0f)// Hz #define USER_MOTOR1_SPEED_FORCE_Hz(5.0f)// Hz #define USER_MOTOR1_ACCEL_START_Hzps(10.0f)// Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)// Hz/s#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Hz#define USER_MOTOR1_BRAKE_CURRENT_A(1.0f)// A #define USER_MOTOR1_BRAKE_TIME_DELAY(12000U)// 60s/5ms// for Rs online calibration with FAST #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Only for encoder #define USER_MOTOR1_NUM_ENC_SLOTS(1000)// lines #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// lines// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.50f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(1.50f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// Only for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(3.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(5)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// sin/cos encoder related parameters defines #define USER_M1_PSINAB_OFFSET_SET(1928.65234f) #define USER_M1_PCOSAB_OFFSET_SET(1866.88171f)#define USER_M1_PSINAB_SCALE_SF_SET(0.25f / 2048.0f) #define USER_M1_PCOSAB_SCALE_SF_SET(0.25f / 2048.0f)#define USER_M1_PSINCD_OFFSET_SET(1928.65234f) #define USER_M1_PCOSCD_OFFSET_SET(1866.88171f)#define USER_M1_PSINCD_SCALE_SF_SET(0.25f / 2048.0f) #define USER_M1_PCOSCD_SCALE_SF_SET(0.25f / 2048.0f)#define USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY(20.0f)#define USER_MOTOR1_PSINCOS_PULSE_LINES(2048.0f) #define USER_MOTOR1_PSINCOS_LINES_MAX(USER_MOTOR1_PSINCOS_PULSE_LINES * 4.0f - 1.0f)// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1 #define USER_MOTOR1_PSINCOS_ADC_PWM_TICKS\((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY) * \500.0f - 1.0f)#define USER_MOTOR1_PSINCOS_PLL_OMEGA(200.0f * MATH_TWO_PI) #define USER_MOTOR1_PSINCOS_PLL_ZETA(0.7f) #define USER_MOTOR1_PSINCOS_PLL_COMP_GAIN(-4.6585E-5f)#define USER_MOTOR1_PSINCOS_PLL_LPF_BW(100.0f)// Unit: Hz// Bias between Resolver zero and Id #define USER_MOTOR1_PSINCOSAB_POS_BIAS(-1.05097198f)// Unit: rad #define USER_MOTOR1_PSINCOSCD_POS_BIAS(-1.05097198f)// Unit: rad#define USER_MOTOR1_PSINCOS_THETA_BIAS_RAD(2.33111715f)// Unit: rad #define USER_MOTOR1_PSINCOS_LPF_FC_HZ(100.0f)// Unit: Hz #define USER_MOTOR1_PSINCOS_SCOS_LPF_HZ(5000.0f)// unit: Hz #define USER_MOTOR1_PSINCOS_CALIB_LPF_HZ(200.0f)// unit: Hz// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0//------------------------------------------------------------------------------ #elif (USER_MOTOR1 == Anaheim_BLY172S_24V) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.399648607f) #define USER_MOTOR1_Ls_d_H(0.000585399743f) #define USER_MOTOR1_Ls_q_H(0.000585399743f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0343291275f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.5f) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.5f) #define USER_MOTOR1_MAX_CURRENT_A(7.5f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0f) #define USER_MOTOR1_NUM_ENC_SLOTS(2000) #define USER_MOTOR1_INERTIA_Kgm2(4.80185e-06)// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(24.0f) #define USER_MOTOR1_FREQ_MIN_Hz(9.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(600.0f)// Hz #define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(2.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(3.5f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(5.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(4.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(9.5f)// A#define USER_MOTOR1_SPEED_START_Hz(20.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(15.0f) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f) #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)#define USER_MOTOR1_SPEED_FS_Hz(3.0f)#define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.55f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(7.25f) #define USER_MOTOR1_PLL_KP_MIN(1.75f) #define USER_MOTOR1_PLL_KP_SF(20.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(1.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(3.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(5)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration with FAST #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Baldor_BSM90N175) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(0.0) #define USER_MOTOR1_Rs_Ohm(0.636681914f) #define USER_MOTOR1_Ls_d_H(0.00240929401f) #define USER_MOTOR1_Ls_q_H(0.00240929401f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.635046303f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.5f)// A - 10~30% of rated current of the motor #define USER_MOTOR1_IND_EST_CURRENT_A(-1.5f)// A - 10~30% of rated current of the motor, just enough to enable rotation #define USER_MOTOR1_MAX_CURRENT_A(9.5f)// A - 30~150% of rated current of the motor #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0f)// Hz - 10~30% of rated frequency of the motor #define USER_MOTOR1_NUM_ENC_SLOTS(2500.0) #define USER_MOTOR1_INERTIA_Kgm2(6.327e-4)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(200.0f) #define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(10.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(3.0f)// #define USER_MOTOR1_STARTUP_CURRENT_A(5.0f)// #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(9.5f)//#define USER_MOTOR1_SPEED_START_Hz(10.0f)// #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f)// #define USER_MOTOR1_ACCEL_START_Hzps(5.0f)// #define USER_MOTOR1_ACCEL_MAX_Hzps(10.0f)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == QXA_A091ZE190A) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(3) #define USER_MOTOR1_Rr_Ohm(0.0) #define USER_MOTOR1_Rs_Ohm(0.771440625f) #define USER_MOTOR1_Ls_d_H(0.0132690407f) #define USER_MOTOR1_Ls_q_H(0.0132690407f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.50693661f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(2.5f) #define USER_MOTOR1_IND_EST_CURRENT_A(-2.0f) #define USER_MOTOR1_MAX_CURRENT_A(8.0f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(20.0f) #define USER_MOTOR1_NUM_ENC_SLOTS(2500.0f) #define USER_MOTOR1_INERTIA_Kgm2(3.100017e-5)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(200.0f) #define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(10.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(3.0f)// #define USER_MOTOR1_STARTUP_CURRENT_A(5.0f)// #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(9.5f)//#define USER_MOTOR1_SPEED_START_Hz(10.0f)// #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f)// #define USER_MOTOR1_ACCEL_START_Hzps(5.0f)// #define USER_MOTOR1_ACCEL_MAX_Hzps(10.0f)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == GMCC_KSK89D53U) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(3) #define USER_MOTOR1_Rr_Ohm(0.0) #define USER_MOTOR1_Rs_Ohm(1.175) #define USER_MOTOR1_Ls_d_H(0.0076) #define USER_MOTOR1_Ls_q_H(0.0109) #define USER_MOTOR1_RATED_FLUX_VpHz(0.5415546) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(3.5) #define USER_MOTOR1_IND_EST_CURRENT_A(-3.0) #define USER_MOTOR1_MAX_CURRENT_A(8.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(20.0) #define USER_MOTOR1_NUM_ENC_SLOTS(2500.0) #define USER_MOTOR1_INERTIA_Kgm2(0.00018)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(200.0f) #define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(10.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(3.0f)// #define USER_MOTOR1_STARTUP_CURRENT_A(5.0f)// #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(9.5f)//#define USER_MOTOR1_SPEED_START_Hz(10.0f)// #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f)// #define USER_MOTOR1_ACCEL_START_Hzps(5.0f)// #define USER_MOTOR1_ACCEL_MAX_Hzps(10.0f)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0//------------------------------------------------------------------------------ #elif (USER_MOTOR1 == Drone_BLK2BLADE) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(6) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.0614009798f) #define USER_MOTOR1_Ls_d_H(1.29998243e-05f) #define USER_MOTOR1_Ls_q_H(1.29998243e-05f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.00359785813f)#define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(4.5) #define USER_MOTOR1_IND_EST_CURRENT_A(-3.0) //! \brief Defines the maximum current at the AD converter // Gain = 12, Rin=2.49k, Rdac=27.4k #define USER_MOTOR1_MAX_CURRENT_A(20.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(120.0) #define USER_MOTOR1_NUM_ENC_SLOTS(1000) #define USER_MOTOR1_INERTIA_Kgm2(3.06154e-04)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(24.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(2000.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(2.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5)// A #define USER_MOTOR1_ALIGN_CURRENT_A(2.0)// A #define USER_MOTOR1_STARTUP_CURRENT_A(3.0)// #define USER_MOTOR1_TORQUE_CURRENT_A(2.0)// A //! \brief Defines the maximum current at the AD converter // Gain = 12, Rin=2.49k, Rdac=27.4k #define USER_MOTOR1_OVER_CURRENT_A(22.25)//#define USER_MOTOR1_SPEED_START_Hz(20.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f) #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.55f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(7.25f) #define USER_MOTOR1_PLL_KP_MIN(1.75f) #define USER_MOTOR1_PLL_KP_SF(20.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(1.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Drone_DJI920KV) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(7) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.115332372f) #define USER_MOTOR1_Ls_d_H(1.76480826e-05f) #define USER_MOTOR1_Ls_q_H(1.76480826e-05f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.00605002558f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(3.0) #define USER_MOTOR1_IND_EST_CURRENT_A(-2.5) #define USER_MOTOR1_MAX_CURRENT_A(20.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(120.0) #define USER_MOTOR1_NUM_ENC_SLOTS(1000)// N/A #define USER_MOTOR1_INERTIA_Kgm2(5.06154e-06)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(12.0) #define USER_MOTOR1_FREQ_MIN_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(2000.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(1200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(3.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(12.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.0)// A #define USER_MOTOR1_STARTUP_CURRENT_A(3.0)// #define USER_MOTOR1_TORQUE_CURRENT_A(2.0)// A #define USER_MOTOR1_OVER_CURRENT_A(16.5)//#define USER_MOTOR1_SPEED_START_Hz(20.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f) #define USER_MOTOR1_ACCEL_MAX_Hzps(100.0f)#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder, no available on this motor #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.55f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(7.25f) #define USER_MOTOR1_PLL_KP_MIN(1.75f) #define USER_MOTOR1_PLL_KP_SF(20.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(1.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Drone_SF_Black) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(7) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.0276225284) #define USER_MOTOR1_Ls_d_H(1.25800107e-05) #define USER_MOTOR1_Ls_q_H(1.25800107e-05) #define USER_MOTOR1_RATED_FLUX_VpHz(0.02469966) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(6.0) #define USER_MOTOR1_IND_EST_CURRENT_A(-3.0) #define USER_MOTOR1_MAX_CURRENT_A(25.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(80.0) #define USER_MOTOR1_NUM_ENC_SLOTS(1000) #define USER_MOTOR1_INERTIA_Kgm2(7.06154e-05)#define USER_MOTOR1_RATED_VOLTAGE_V(24.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(2000.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(2.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0)// Volt#define USER_MOTOR1_STARTUP_CURRENT_A(3.0)// #define USER_MOTOR1_TORQUE_CURRENT_A(2.0)// A #define USER_MOTOR1_OVER_CURRENT_A(25.0)//#define USER_MOTOR1_SPEED_START_Hz(20.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f) #define USER_MOTOR1_ACCEL_MAX_Hzps(100.0f)#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == AirFan_MFA0500_24V) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.150690928) #define USER_MOTOR1_Ls_d_H(2.34591134e-05) #define USER_MOTOR1_Ls_q_H(2.34591134e-05) #define USER_MOTOR1_RATED_FLUX_VpHz(0.00798716862f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(4.5) #define USER_MOTOR1_IND_EST_CURRENT_A(-3.0) #define USER_MOTOR1_MAX_CURRENT_A(16.5) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(200.0) #define USER_MOTOR1_NUM_ENC_SLOTS(1000) #define USER_MOTOR1_INERTIA_Kgm2(7.06154e-05)// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(24.0) #define USER_MOTOR1_FREQ_MIN_Hz(9.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(1500.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(1000.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(2.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(14.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5)// A #define USER_MOTOR1_ALIGN_CURRENT_A(2.5)// A #define USER_MOTOR1_STARTUP_CURRENT_A(4.5)// A #define USER_MOTOR1_TORQUE_CURRENT_A(2.0)// A #define USER_MOTOR1_OVER_CURRENT_A(16.5)// A#define USER_MOTOR1_SPEED_START_Hz(120.0) #define USER_MOTOR1_SPEED_FORCE_Hz(100.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0) #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0)#define USER_MOTOR1_SPEED_FS_Hz(3.0)// only for encoder, N/A #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.25f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(7.25f) #define USER_MOTOR1_PLL_KP_MIN(1.75f) #define USER_MOTOR1_PLL_KP_SF(5.00f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.25f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(1.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-NBLDC #define USER_MOTOR1_RAMP_START_Hz(5.0) #define USER_MOTOR1_RAMP_END_Hz(30.0) #define USER_MOTOR1_RAMP_DELAY(1)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Nedic_EPSMS037_D12V) #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(0.0) #define USER_MOTOR1_Rs_Ohm(0.0412785485) #define USER_MOTOR1_Ls_d_H(0.000121561985) #define USER_MOTOR1_Ls_q_H(0.000121561985) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0572981499) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(5.0) #define USER_MOTOR1_IND_EST_CURRENT_A(-4.0) #define USER_MOTOR1_MAX_CURRENT_A(12.5) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0) #define USER_MOTOR1_NUM_ENC_SLOTS(1000.0) #define USER_MOTOR1_INERTIA_Kgm2(0.015)#define USER_MOTOR1_RATED_VOLTAGE_V(12.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(1500.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(1000.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(2.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(12.0)// Volt#define USER_MOTOR1_STARTUP_CURRENT_A(2.0)// #define USER_MOTOR1_TORQUE_CURRENT_A(1.5)// A #define USER_MOTOR1_OVER_CURRENT_A(12.5)//#define USER_MOTOR1_SPEED_START_Hz(10.0)// #define USER_MOTOR1_SPEED_FORCE_Hz(20.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0)// #define USER_MOTOR1_ACCEL_MAX_Hzps(100.0)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == ziehlab_Fan160hv) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(0.0) #define USER_MOTOR1_Rs_Ohm(24.0002041) #define USER_MOTOR1_Ls_d_H(0.125637174) #define USER_MOTOR1_Ls_q_H(0.125637174) #define USER_MOTOR1_RATED_FLUX_VpHz(1.42636561)#define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.25) #define USER_MOTOR1_IND_EST_CURRENT_A(-0.5) #define USER_MOTOR1_MAX_CURRENT_A(3.75) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(15.0) #define USER_MOTOR1_NUM_ENC_SLOTS(2500.0) #define USER_MOTOR1_INERTIA_Kgm2(27.5e-5)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(200.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.0)// A #define USER_MOTOR1_ALIGN_CURRENT_A(0.0)// A #define USER_MOTOR1_STARTUP_CURRENT_A(2.0)// A #define USER_MOTOR1_TORQUE_CURRENT_A(1.5)// A #define USER_MOTOR1_OVER_CURRENT_A(3.0)// A#define USER_MOTOR1_SPEED_START_Hz(20.0)// #define USER_MOTOR1_SPEED_FORCE_Hz(30.0)// #define USER_MOTOR1_ACCEL_START_Hzps(10.0)// #define USER_MOTOR1_ACCEL_MAX_Hzps(10.0)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.55f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(7.25f) #define USER_MOTOR1_PLL_KP_MIN(1.75f) #define USER_MOTOR1_PLL_KP_SF(20.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(1.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == embpast_Fan160hv) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(0.0)#define USER_MOTOR1_Rs_Ohm(8.76899433) #define USER_MOTOR1_Ls_d_H(0.0284830406) #define USER_MOTOR1_Ls_q_H(0.0284830406) #define USER_MOTOR1_RATED_FLUX_VpHz(0.280854076)#define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.25) #define USER_MOTOR1_IND_EST_CURRENT_A(-0.30) #define USER_MOTOR1_MAX_CURRENT_A(3.5) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(20.0) #define USER_MOTOR1_NUM_ENC_SLOTS(2500.0) #define USER_MOTOR1_INERTIA_Kgm2(27.5e-5)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(200.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.0)// A #define USER_MOTOR1_ALIGN_CURRENT_A(0.0)// A #define USER_MOTOR1_STARTUP_CURRENT_A(2.0)// A #define USER_MOTOR1_TORQUE_CURRENT_A(1.0)// A #define USER_MOTOR1_OVER_CURRENT_A(6.25)// A#define USER_MOTOR1_SPEED_START_Hz(20.0)// #define USER_MOTOR1_SPEED_FORCE_Hz(30.0)// #define USER_MOTOR1_ACCEL_START_Hzps(10.0)// #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.55f) #define USER_MOTOR1_KSLIDE_MIN(0.10f)#define USER_MOTOR1_PLL_KP_MAX(7.25f) #define USER_MOTOR1_PLL_KP_MIN(1.75f) #define USER_MOTOR1_PLL_KP_SF(20.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(1.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Anaheim_BLWS235D) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(5.44400978) #define USER_MOTOR1_Ls_d_H(0.0224932302) #define USER_MOTOR1_Ls_q_H(0.0224932302) #define USER_MOTOR1_RATED_FLUX_VpHz(0.560590863) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.0) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0) #define USER_MOTOR1_MAX_CURRENT_A(2.5) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0) #define USER_MOTOR1_INERTIA_Kgm2(0.0000230206204) // 0.003261 oz-in-sec2#define USER_MOTOR1_RATED_VOLTAGE_V(160.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(200.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(160.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.0)// A #define USER_MOTOR1_STARTUP_CURRENT_A(1.5)// #define USER_MOTOR1_TORQUE_CURRENT_A(1.0)// A #define USER_MOTOR1_OVER_CURRENT_A(2.0)//#define USER_MOTOR1_SPEED_START_Hz(30.0) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0)// #define USER_MOTOR1_ACCEL_MAX_Hzps(100.0)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)#if defined(MOTOR1_FAST) // Only for FAST #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f #define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base #endif// MOTOR1_FAST#if defined(MOTOR1_ESMO) // Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f #endif// MOTOR1_ESMO#if defined(MOTOR1_ENC) // Only for encoder #define USER_MOTOR1_NUM_ENC_SLOTS(NULL) #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// lines #endif// MOTOR1_ENC#if defined(MOTOR1_HALL) // Only for hall sensor #define USER_MOTOR1_HALL_DELTA_rad(MATH_TWO_PI / 36.0f)// rad #endif// MOTOR1_HALL#if defined(MOTOR1_ISBLDC) // for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f) #endif// MOTOR1_ISBLDC// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Anaheim_BLZ362S) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.562865257f) #define USER_MOTOR1_Ls_d_H(0.00117779721f) #define USER_MOTOR1_Ls_q_H(0.00117779721f) #define USER_MOTOR1_RATED_FLUX_VpHz(0.276417136f)#define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(2.5) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.5) #define USER_MOTOR1_MAX_CURRENT_A(7.5) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL) #define USER_MOTOR1_INERTIA_Kgm2(0.0000230206204) // 0.003261 oz-in-sec2#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(160.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(200.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(160.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5)// A #define USER_MOTOR1_ALIGN_CURRENT_A(2.0)// A #define USER_MOTOR1_STARTUP_CURRENT_A(4.5)// #define USER_MOTOR1_TORQUE_CURRENT_A(0.5)// A #define USER_MOTOR1_OVER_CURRENT_A(6.5)//#define USER_MOTOR1_SPEED_START_Hz(30.0) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0)// #define USER_MOTOR1_ACCEL_MAX_Hzps(100.0)//#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.50f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.75f)#define USER_MOTOR1_PLL_KP_MAX(10.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Regal_Beloit_5SME39DL0756) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(3) #define USER_MOTOR1_Rr_Ohm(0.0) #define USER_MOTOR1_Rs_Ohm(4.581007) #define USER_MOTOR1_Ls_d_H(0.03727356) #define USER_MOTOR1_Ls_q_H(0.03727356) #define USER_MOTOR1_RATED_FLUX_VpHz(0.6589699) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.0) #define USER_MOTOR1_IND_EST_CURRENT_A(-1.0) #define USER_MOTOR1_MAX_CURRENT_A(2.6) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(20.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL)// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Drone9616_110KV_48V) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(7) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.0282184016) #define USER_MOTOR1_Ls_d_H(1.39398744e-05) #define USER_MOTOR1_Ls_q_H(1.39398744e-05) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0159354247) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(3.5) #define USER_MOTOR1_IND_EST_CURRENT_A(-3.0) #define USER_MOTOR1_MAX_CURRENT_A(50.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(60.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL) #define USER_MOTOR1_INERTIA_Kgm2(4.80185e-06)// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(48.0) #define USER_MOTOR1_FREQ_MIN_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(1200.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(2.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(48.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.5)// #define USER_MOTOR1_STARTUP_CURRENT_A(5.0)// #define USER_MOTOR1_TORQUE_CURRENT_A(2.0)// A #define USER_MOTOR1_OVER_CURRENT_A(75.0)//#define USER_MOTOR1_SPEED_START_Hz(75.0) #define USER_MOTOR1_SPEED_FORCE_Hz(60.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0) #define USER_MOTOR1_ACCEL_MAX_Hzps(50.0)#define USER_MOTOR1_SPEED_FS_Hz(3.0)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(1.00f)// 2.0f #define USER_MOTOR1_KSLIDE_MIN(0.05f)#define USER_MOTOR1_PLL_KP_MAX(15.0f) #define USER_MOTOR1_PLL_KP_MIN(2.0f) #define USER_MOTOR1_PLL_KP_SF(20.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.05f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f)// 1.0f #define USER_MOTOR1_THETA_OFFSET_SF(1.0f)// 2.5f #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// 100.0f// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Anaheim_BLY341S_48V) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.463800967) #define USER_MOTOR1_Ls_d_H(0.00114538975) #define USER_MOTOR1_Ls_q_H(0.00114538975) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0978558362) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(2.5) #define USER_MOTOR1_IND_EST_CURRENT_A(-2.0) #define USER_MOTOR1_MAX_CURRENT_A(20.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(20.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL)#define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(300.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(4.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0)// Volt#elif (USER_MOTOR1 == Anaheim_BLY341S_Y24V) #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.133211181) #define USER_MOTOR1_Ls_d_H(0.000275031634) #define USER_MOTOR1_Ls_q_H(0.000275031634) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0514687076) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(4.5) #define USER_MOTOR1_IND_EST_CURRENT_A(-4.0) #define USER_MOTOR1_MAX_CURRENT_A(12.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(20.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL) #define USER_MOTOR1_INERTIA_Kgm2(3.99683e-05)// 0.00566 oz-in-sec2#define USER_MOTOR1_RATED_VOLTAGE_V(24.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(300.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(4.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0)// Volt#define USER_MOTOR1_STARTUP_CURRENT_A(3.0)// #define USER_MOTOR1_TORQUE_CURRENT_A(1.5)// A #define USER_MOTOR1_OVER_CURRENT_A(6.0)//#define USER_MOTOR1_SPEED_START_Hz(10.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0) #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0)// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == Anaheim_BLY341S_D24V) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(4) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.0544644073) #define USER_MOTOR1_Ls_d_H(9.58044038e-05) #define USER_MOTOR1_Ls_q_H(9.58044038e-05) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0544644073) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(4.0) #define USER_MOTOR1_IND_EST_CURRENT_A(-3.5) #define USER_MOTOR1_MAX_CURRENT_A(8.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL) #define USER_MOTOR1_INERTIA_Kgm2(3.99683e-05)// 0.00566 oz-in-sec2#define USER_MOTOR1_RATED_VOLTAGE_V(24.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(300.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(4.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0)// Volt#define USER_MOTOR1_STARTUP_CURRENT_A(3.0)// #define USER_MOTOR1_TORQUE_CURRENT_A(1.5)// A #define USER_MOTOR1_OVER_CURRENT_A(8.5)//#define USER_MOTOR1_SPEED_START_Hz(10.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0) #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0)// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == EMSYNERGY_LVACI) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_INDUCTION #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(1.05) #define USER_MOTOR1_Rs_Ohm(1.79) #define USER_MOTOR1_Ls_d_H(0.00681) #define USER_MOTOR1_Ls_q_H(0.00681) #define USER_MOTOR1_RATED_FLUX_VpHz(0.8165f*14.7f*1.4142f/50.0f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(0.91f*1.4142f) #define USER_MOTOR1_RES_EST_CURRENT_A(0.5f) #define USER_MOTOR1_IND_EST_CURRENT_A(NULL) #define USER_MOTOR1_MAX_CURRENT_A(2.50) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(10.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL) #define USER_MOTOR1_INERTIA_Kgm2(7.06154e-06)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(24.0) #define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.5f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(1.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(5.0)// A#define USER_MOTOR1_SPEED_START_Hz(30.0) #define USER_MOTOR1_SPEED_FORCE_Hz(25.0) #define USER_MOTOR1_ACCEL_START_Hzps(10.0) #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0)#define USER_MOTOR1_SPEED_FS_Hz(3.0)// only for encoder, N/A #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO, N/A #define USER_MOTOR1_KSLIDE_MAX(1.50f) #define USER_MOTOR1_KSLIDE_MIN(0.15f)#define USER_MOTOR1_PLL_KP_MAX(7.25f) #define USER_MOTOR1_PLL_KP_MIN(1.25f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(2.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-BLDC, N/A #define USER_MOTOR1_RAMP_START_Hz(5.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(1)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base#elif (USER_MOTOR1 == Marathon_5K33GN2A) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_INDUCTION #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(5.508003) #define USER_MOTOR1_Rs_Ohm(10.71121) #define USER_MOTOR1_Ls_d_H(0.05296588) #define USER_MOTOR1_Ls_q_H(0.05296588) #define USER_MOTOR1_RATED_FLUX_VpHz(0.8165*220.0/60.0) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(1.378) #define USER_MOTOR1_RES_EST_CURRENT_A(1.0) #define USER_MOTOR1_IND_EST_CURRENT_A(NULL) #define USER_MOTOR1_MAX_CURRENT_A(3.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(5.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL)#define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0)// Volt#elif (USER_MOTOR1 == Marathon_56H17T2011A) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_INDUCTION #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(5.159403) #define USER_MOTOR1_Rs_Ohm(7.924815) #define USER_MOTOR1_Ls_d_H(0.03904648) #define USER_MOTOR1_Ls_q_H(0.03904648) #define USER_MOTOR1_RATED_FLUX_VpHz(0.8*0.8165*230.0/60.0) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(0.9941965) #define USER_MOTOR1_RES_EST_CURRENT_A(0.5) #define USER_MOTOR1_IND_EST_CURRENT_A(NULL) #define USER_MOTOR1_MAX_CURRENT_A(2.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(5.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL) #define USER_MOTOR1_INERTIA_Kgm2(6.300017e-5)#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(200.0f) #define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0f)// Hz#define USER_MOTOR1_FREQ_MIN_Hz(5.0)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(400.0)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(200.0)// Hz #define USER_MOTOR1_VOLT_MIN_V(20.0)// Volt #define USER_MOTOR1_VOLT_MAX_V(200.0)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.0f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(2.5f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(1.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(4.5f)// A#define USER_MOTOR1_SPEED_START_Hz(30.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(20.0f) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f)// Hz/s #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)// Hz/s#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)#elif (USER_MOTOR1 == Dayton_3N352C) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_INDUCTION #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(2.428799) #define USER_MOTOR1_Rs_Ohm(2.863202) #define USER_MOTOR1_Ls_d_H(0.02391323) #define USER_MOTOR1_Ls_q_H(0.02391323) #define USER_MOTOR1_RATED_FLUX_VpHz(0.8165*230.0/60.0) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(1.0) #define USER_MOTOR1_IND_EST_CURRENT_A(NULL) #define USER_MOTOR1_MAX_CURRENT_A(3.0) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(5.0) #define USER_MOTOR1_NUM_ENC_SLOTS(NULL)//------------------------------------------------------------------ #elif (USER_MOTOR1 == my_pm_motor_1) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_PM #define USER_MOTOR1_NUM_POLE_PAIRS(3) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(0.007) #define USER_MOTOR1_Ls_d_H(0.000021) #define USER_MOTOR1_Ls_q_H(0.000021) #define USER_MOTOR1_RATED_FLUX_VpHz(0.0270898938) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(10.0f)//電機額定電流的10%~30%(A) #define USER_MOTOR1_IND_EST_CURRENT_A(-10.0f)//電機額定電流的10%~30%, 剛好能驅動(A) #define USER_MOTOR1_MAX_CURRENT_A(150.0f)//電機最大電流, 額定電流的50%~150%(A) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(40.0f)//電機額定轉速的10%~30%(Hz) #define DC_LINK_LIMIT(150.0f)//總電流限制// Number of lines on the motor's quadrature encoder #define USER_MOTOR1_NUM_ENC_SLOTS(1000)#define USER_MOTOR1_INERTIA_Kgm2(0.00014)//轉子轉動慣量, 1.4Kgcm2=0.00014Kgm2// Ls compensation coefficient #define USER_MOTOR1_Ls_d_COMP_COEF(0.15f)// 0.0f~0.5f #define USER_MOTOR1_Ls_q_COMP_COEF(0.35f)// 0.0f~0.5f #define USER_MOTOR1_Ls_MIN_NUM_COEF(0.55f)// 0.5f~1.0f#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz(5.0f)// Hz#define USER_MOTOR1_RATED_VOLTAGE_V(12.0f) #define USER_MOTOR1_FREQ_MIN_Hz(9.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(250.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(1.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0f)// Volt#define USER_MOTOR1_FORCE_DELTA_A(0.05f)// A #define USER_MOTOR1_ALIGN_DELTA_A(0.01f)// A #define USER_MOTOR1_FLUX_CURRENT_A(0.5f)// A #define USER_MOTOR1_ALIGN_CURRENT_A(1.5f)// A #define USER_MOTOR1_STARTUP_CURRENT_A(10.0f)// A #define USER_MOTOR1_TORQUE_CURRENT_A(2.0f)// A #define USER_MOTOR1_OVER_CURRENT_A(180.0f)// A#define USER_MOTOR1_BRAKE_CURRENT_A(1.0f)// A #define USER_MOTOR1_BRAKE_TIME_DELAY(12000U)// 60s/5ms#define USER_MOTOR1_SPEED_START_Hz(30.0f) #define USER_MOTOR1_SPEED_FORCE_Hz(25.0f) #define USER_MOTOR1_ACCEL_START_Hzps(10.0f) #define USER_MOTOR1_ACCEL_MAX_Hzps(20.0f)#define USER_MOTOR1_SPEED_FS_Hz(3.0f)// only for encoder #define USER_MOTOR1_ENC_POS_MAX(USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1) #define USER_MOTOR1_ENC_POS_OFFSET(668)// Only for eSMO #define USER_MOTOR1_KSLIDE_MAX(0.75f)// #define USER_MOTOR1_KSLIDE_MIN(0.15f)#define USER_MOTOR1_PLL_KP_MAX(6.75f)// #define USER_MOTOR1_PLL_KP_MIN(0.75f) #define USER_MOTOR1_PLL_KP_SF(5.0f) #define USER_MOTOR1_PLL_KI(2.8125E-06f)// Not used, reserve#define USER_MOTOR1_BEMF_THRESHOLD(0.5f) #define USER_MOTOR1_BEMF_KSLF_FC_Hz(1.0f) #define USER_MOTOR1_THETA_OFFSET_SF(1.0f) #define USER_MOTOR1_SPEED_LPF_FC_Hz(200.0f)// for IS-BLDC #define USER_MOTOR1_RAMP_START_Hz(3.0f) #define USER_MOTOR1_RAMP_END_Hz(30.0f) #define USER_MOTOR1_RAMP_DELAY(5)#define USER_MOTOR1_ISBLDC_INT_MAX(0.015f) #define USER_MOTOR1_ISBLDC_INT_MIN(0.010f)// for Rs online calibration #define USER_MOTOR1_RSONLINE_WAIT_TIME(60000U)// 5min/300s at 5ms base #define USER_MOTOR1_RSONLINE_WORK_TIME(24000U)//2min/120s at 5ms base// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#elif (USER_MOTOR1 == my_aci_motor_2) // Refer to the description of the following parameters for Teknic_M2310PLN04K #define USER_MOTOR1_TYPEMOTOR_TYPE_INDUCTION #define USER_MOTOR1_NUM_POLE_PAIRS(2) #define USER_MOTOR1_Rr_Ohm(NULL) #define USER_MOTOR1_Rs_Ohm(NULL) #define USER_MOTOR1_Ls_d_H(NULL) #define USER_MOTOR1_Ls_q_H(NULL) #define USER_MOTOR1_RATED_FLUX_VpHz(0.8165f * 230.0f / 60.0f) #define USER_MOTOR1_MAGNETIZING_CURRENT_A(NULL) #define USER_MOTOR1_RES_EST_CURRENT_A(0.5f) #define USER_MOTOR1_IND_EST_CURRENT_A(NULL) #define USER_MOTOR1_MAX_CURRENT_A(5.0f) #define USER_MOTOR1_FLUX_EXC_FREQ_Hz(5.0f)// Number of lines on the motor's quadrature encoder #define USER_MOTOR1_NUM_ENC_SLOTS(1000)#define USER_MOTOR1_FREQ_MIN_Hz(5.0f)// Hz #define USER_MOTOR1_FREQ_MAX_Hz(300.0f)// Hz#define USER_MOTOR1_FREQ_LOW_Hz(10.0f)// Hz #define USER_MOTOR1_FREQ_HIGH_Hz(400.0f)// Hz #define USER_MOTOR1_VOLT_MIN_V(4.0f)// Volt #define USER_MOTOR1_VOLT_MAX_V(24.0f)// Volt// Current and Speed PI Regulators Tuning Coefficient #define USER_MOTOR1_GAIN_SPEED_LOW_Hz(60.0f) #define USER_MOTOR1_GAIN_SPEED_HIGH_Hz(150.0f)#define USER_MOTOR1_KP_SPD_START_SF(1.5f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_LOW_SF(2.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_SPD_HIGH_SF(1.0f)// 0.1~100.0 #define USER_MOTOR1_KI_SPD_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_GAIN_IQ_LOW_A(2.0f) #define USER_MOTOR1_GAIN_IQ_HIGH_A(6.0f)#define USER_MOTOR1_KP_IQ_START_SF(1.5f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_START_SF(1.5f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_LOW_SF(2.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_LOW_SF(2.0f)// 0.1~10.0#define USER_MOTOR1_KP_IQ_HIGH_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_IQ_HIGH_SF(1.0f)// 0.1~10.0#define USER_MOTOR1_KP_ID_SF(1.0f)// 0.1~10.0 #define USER_MOTOR1_KI_ID_SF(1.0f)// 0.1~10.0#else #error No motor type specified #endif//! \brief Defines the maximum current slope for Id trajectory //! #define USER_M1_MAX_CURRENT_DELTA_A(USER_MOTOR1_RES_EST_CURRENT_A / USER_M1_ISR_FREQ_Hz)//! \brief Defines the maximum current slope for Id trajectory during power warp mode //! #define USER_M1_MAX_CURRENT_DELTA_PW_A(0.3 * USER_MOTOR1_RES_EST_CURRENT_A / USER_M1_ISR_FREQ_Hz)#ifndef USER_MOTOR1 #error Motor type is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_TYPE #error The motor type is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_NUM_POLE_PAIRS #error Number of motor pole pairs is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_Rr_Ohm #error The rotor resistance is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_Rs_Ohm #error The stator resistance is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_Ls_d_H #error The direct stator inductance is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_Ls_q_H #error The quadrature stator inductance is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_RATED_FLUX_VpHz #error The rated flux of motor is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_MAGNETIZING_CURRENT_A #error The magnetizing current is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_RES_EST_CURRENT_A #error The resistance estimation current is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_IND_EST_CURRENT_A #error The inductance estimation current is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_MAX_CURRENT_A #error The maximum current is not defined in user_mtr1.h #endif#ifndef USER_MOTOR1_FLUX_EXC_FREQ_Hz #error The flux excitation frequency is not defined in user_mtr1.h #endif#if ((USER_M1_NUM_CURRENT_SENSORS < 2) || (USER_M1_NUM_CURRENT_SENSORS > 3)) #error The number of current sensors must be 2 or 3 #endif#if (USER_M1_NUM_VOLTAGE_SENSORS != 3) #error The number of voltage sensors must be 3 #endif// ************************************************************************** // the Defines//! \brief Defines the minimum ADC value for pot #define USER_M1_POT_ADC_MIN(200U)// 0 < the value < 4096//! \brief Defines the maximum ADC value for pot #define USER_M1_POT_ADC_MAX(4096U - 200U)// 0 < the value < 4096//! \brief Defines the speed conversion coefficient for pot #define USER_M1_POT_SPEED_SFUSER_MOTOR1_FREQ_MAX_Hz / ((float32_t)(USER_M1_POT_ADC_MAX - USER_M1_POT_ADC_MIN))//! \brief Defines the minimum frequency for pot #define USER_M1_POT_SPEED_MIN_Hz(USER_MOTOR1_FREQ_MAX_Hz * 0.1f)//! \brief Defines the maximum frequency for pot #define USER_M1_POT_SPEED_MAX_Hz(USER_MOTOR1_FREQ_MAX_Hz * 0.5f)//! \brief Defines the pot signal wait delay time #define USER_M1_WAIT_TIME_SET(500U)// 0.5s/1ms//! \brief Defines the minimum frequency for pulse input #define USER_M1_SPEED_CAP_MIN_Hz(15.0f)//! \brief Defines the maximum frequency for pulse input #define USER_M1_SPEED_CAP_MAX_Hz(600.0f)//! \brief Defines the pulse capture wait delay time #define USER_M1_CAP_WAIT_TIME_SET(200U)// 0.2s/1ms//! \brief Defines the switch signal wait delay time #define USER_M1_SWITCH_WAIT_TIME_SET(50U)// 0.05s/1ms// ************************************************************************** // the typedefs// ************************************************************************** // the globals extern USER_Params userParams_M1;#if defined(BSXL8323RS_REVA) || defined(BSXL8353RS_REVA) || \defined(BSXL8316RT_REVA) // Watch window interface to the drv8323/drv8353/DRV8316 SPI extern DRVIC_VARS_t drvicVars_M1; #endif// BSXL8323RS_REVA | BSXL8353RS_REVA | BSXL8316RT_REVA// ************************************************************************** // the functions //! \param[in]pUserParamsThe pointer to the user param structure extern void USER_setMotor1Params(userParams_Handle handle);//***************************************************************************** // // Close the Doxygen group. //! @} // //*****************************************************************************//***************************************************************************** // // Mark the end of the C bindings section for C++ compilers. // //***************************************************************************** #ifdef __cplusplus } #endif#endif // end of USER_MTR1_H definition
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Cherry Zhou：
换向控制算法将受到 CSA 读取的数据的影响。 您是否有 CSA 引脚的输入电压图像？ 为了更好地降低电流感应信号中的噪声，您需要考虑滤波(在 CSA 的输入端以及输出端)和物理板layout(根据本应用手册 https://www.ti.com/lit/an/slvaf66/slvaf66.pdf 中的建议以及以上回复给到的best practices note)。
换向算法的实际代码看起来没什么问题。
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chunting Liu：
Dear Cherry,
控制器近期測試過程中出了點狀況，需要點時間修復，波形需要晚些時間才能提供。
附件是驅動板的PCB Layout，能夠指導哪些部份有問題需要做調整嗎?謝謝~
pcb layout.rar
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Cherry Zhou：
您好，
请参阅我们的应用手册，了解最佳layout实践： https://www.ti.com/lit/an/slva959b/slva959b.pdf?ts=1686935027388
此外，本FAQ的section11提供了有关layout审阅的一些要点： https://e2e.ti.com/support/motor-drivers-group/motor-drivers/f/motor-drivers-forum/1176539/faq-quick-guide-to-debugging-common-issues-in-bldc-motor-drivers
