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| author | Tero K <tero.k@granitedevices.fi> | 2015-10-20 15:44:37 +0300 |
|---|---|---|
| committer | Tero K <tero.k@granitedevices.fi> | 2015-10-20 15:44:37 +0300 |
| commit | cab877d673a59cd8610af34d8ac66a072d99293c (patch) | |
| tree | a2215da6d90af6eac6e1238e87c57a66c0616483 | |
| parent | 47eb82f2f17522b7cc37e7595866e7a42699ca83 (diff) | |
| download | SimpleMotionV2-cab877d673a59cd8610af34d8ac66a072d99293c.tar.gz SimpleMotionV2-cab877d673a59cd8610af34d8ac66a072d99293c.zip | |
Added first order motor torque ripple/detent/cogging compensation parameters.
| -rw-r--r-- | simplemotion_defs.h | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index 07b2164..1c58367 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -463,6 +463,34 @@ #define SMP_TORQUEFAULT_MARGIN 420
#define SMP_TORQUEFAULT_OC_TOLERANCE 421
+/* next four parameters allow compensation of motor detent torque and torque ripple (cogging torque).
+ * xxx_TORQUE_FUNCTION and xxx_TORQUE_AMPLITUDE sets function, value range is 0-25 and used like:
+ *
+ * if((function%1)==0) xxx_torque_modifier=sin(electrical_angle*(function/2))*amplitude;
+ * else xxx_torque_modifier=cos(electrical_angle*(function/2))*amplitude;
+ *
+ * i.e. functions go like:
+ * 0=no effect (sin(0a))
+ * 1=constant (cos(0a))
+ * 2=sin(1a)
+ * 3=cos(1a)
+ * 4=sin(2a)
+ * 5=cos(a2)
+ * 6=sin(3a)
+ * 7=cos(3a)
+ *
+ *
+ * Detent torque compensation value (static_torque modifier) is added to the original torque setpoint.
+ * Ripple torque compensation value (dynamic_torque modifier) will modulate the original torque setpoint.
+ * Overall formula how these affect to troque output is:
+ *
+ * torqueSetpoint=torqueSetpoint*(dynamic_torque_modifier+1) +static_torque_modifier;
+ */
+#define SMP_MOTOR_STATIC_TORQUE_FUNCTION 424
+#define SMP_MOTOR_STATIC_TORQUE_AMPLITUDE 425
+#define SMP_MOTOR_DYNAMIC_TORQUE_FUNCTION 426
+#define SMP_MOTOR_DYNAMIC_TORQUE_AMPLITUDE 427
+
//motor thermal time constant in seconds:
#define SMP_MOTOR_THERMAL_TIMECONSTANT 430
//how fast to ramp up voltage during phase search:
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