| BLDC control on ATAVRMC303 with ATxMega128A1

config_motor.h
Go to the documentation of this file.
1
11 //_____ I N C L U D E S ___________________________________________________
12
13
14
15 #ifndef _CONFIG_MOTOR_H_
16 #define _CONFIG_MOTOR_H_
17
23 enum {HS_001=1,HS_010=2,HS_011=3,HS_100=4,HS_101=5,HS_110=6};
24
25
29 enum {RUN = TRUE, STOP = FALSE};
30
34 enum {CCW = TRUE, CW = FALSE};
35
36 // Define Type of Pulse Width Modulation
37 //#define HIGH_AND_LOW_PWM // it doesn't run with AT90PWM3B in centered mode
38 // AT90PWM3B: for high and low pwm (fast decay mode),
39 // please use 1,2 or 4 ramps mode and adjust ADC synchro
40
41 // Define type of speed measure and number of samples
42 //#define AVERAGE_SPEED_MEASURE
43 #define n_SAMPLE 8
44
45 // Define macro for motor control
46 #define OPEN_LOOP 0
47 #define SPEED_LOOP 1
48 #define CURRENT_LOOP 2
49
50 // Here you have to define your control coefficients
51 // Kp for the proportionnal coef
52 // Ki for the integral coef
53 // Kd for the derivative coef
54
55 // Speed regulation coefficients
56 #define Kp_speed 6//1 MMT motor//8 MAXON moto
57 #define Ki_speed 4//10 MMT motor//8 MAXON motor
58 #define Kd_speed 0
59
60 // Current regulation coefficients
61 #define Kp_cur 1
62 #define Ki_cur 3
63 #define Kd_cur 0
64
65 // Position regulation coefficients
66 #define Kp_pos 9 //8
67 #define Ki_pos 3 //1
68 #define Kd_pos 20 //5
69
70 // All PID coef are multiplied by 2^Kmul
71 // For exemple : kp = 1 => Kp = 1 * 2^K_scal = 1 * 2^4 = 16
72 // To get the right result you have to divide the number by 2^K_scal
73 // So execute a K_scal right shift
74 #define K_speed_scal 4 // 4 MMT motor//5 MAXON motor
75 #define K_cur_scal 4
76 #define K_pos_scal 5
77
78 // Speed measurement
79 // K_SPEED = (60 * 255)/(n * t_timer0 * speed_max(rpm))
80 // with n : number of pairs of poles.
81 // and t_timer0 : 16us
82 #define K_SPEED 34152 // max speed : 7000 (MC100 motor)
83 //#define K_SPEED 11250 // max speed : 17000 (MMT 35-1LS motor)
84 // if you want to calculate the absolute speed
85 // absolute_speed = alpha * measured_speed
86 // with alpha = 60 / (n * K_SPEED * t_timer0)
87
88 #endif
89
90 /* IMAX for DAC is calculated on that way :
91 Rshunt = 0.1Ohm
92 Vref = 2.56V
93 DAC is left adjust so it is like a 8 bit DAC
94 IMAX = imax(amp) * 256 * 0.1 / 2.56
95 IMAX = imax * 10 */
96 #define IMAX (6 * 10) /* 6 amps */
HS_101
Definition: config_motor.h:23
HS_110
Definition: config_motor.h:23
CW
Definition: config_motor.h:34
HS_010
Definition: config_motor.h:23
HS_001
Definition: config_motor.h:23
STOP
Definition: config_motor.h:29
RUN
Definition: config_motor.h:29
HS_100
Definition: config_motor.h:23
CCW
Definition: config_motor.h:34
HS_011
Definition: config_motor.h:23