Original question:
Hi team,
The current feedback signal SOA, SOB, SOC generated by the DRV8343S when the motor is loaded has abnormal spikes. Why is this happening?
Driver board circuit is as follows:
Testing waveform is as follows:
Could you help check this case? Thanks.
Best Regards,
Cherry
Hi Davis,
Spikes on SOA do correspond to UL PWM, which is peak when UL PWM is High, and longer PWM High, the longer the spike time. If this peak is the expected actual waveform, does it mean that the driving abnormality caused in the above diagram is not the impact of this peak problem, and the overall waveform distortion of the SOA, SOB,SOC are caused by a nonsine wave state?
How to improve SOA, B, and C waveform anomalies after loading? The current method of rectifying the target low-pass filter is to have a fixed resistance of 1KΩ and an adjustable capacitance of 1nF~15nF. The final test resulted in the current 6.8nF (Low Pass 23.4KHz) being the best match, but still unable to meet the target.
The graph below shows a waveform at the current maximum load, with DC current approaching 100A, the ripples are very violent, SOA, SOB and SOC waveform is severely distorted and phase current is also abnormal:
Thanks and regards,
Cherry
Hi David,
The above files are useful for Layout design, but Layout requires some time to validate. What adjustments can be made to the program at this time?
The program currently uses the Sample Code of "universal_motorcontrol_lab_f28002x" to change the SPI protocol of the DRV8323 to the DRV8343 based on the Sample Code only. And configure user's parameter for "user_mtr1.h". The commutation algorithm settings are shown in the following figure:
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//! \file /solutions/universal_motorcontrol_lab/common/include/user_mtr1.h
//! \brief Contains 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_KP 0.0525f
//! brief Define the Ki gain for Field Weakening Control
#define USER_M1_FWC_KI 0.00325f
//! 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_RAD USER_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_ANGLE 0.0f // degree
#define USER_M1_FWC_MIN_ANGLE_RAD USER_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_TYPE MOTOR_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_low of 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_min of 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 coefficient to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
// the low gain coefficient to adjust the Ki of the speed PI regulator
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
// the high gain coefficient to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
// the high gain coefficient to 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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_TYPE MOTOR_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_SF USER_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] pUserParams The 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
Thanks and regards,
Cherry