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- <?xml version="1.0" encoding="UTF-8"?>
- <MCConfiguration>
- <pwm_mode>1</pwm_mode>
- <comm_mode>0</comm_mode>
- <motor_type>0</motor_type>
- <sensor_mode>0</sensor_mode>
- <l_current_max>37.412</l_current_max>
- <l_current_min>-37.412</l_current_min>
- <l_in_current_max>99</l_in_current_max>
- <l_in_current_min>-60</l_in_current_min>
- <l_abs_current_max>130</l_abs_current_max>
- <l_min_erpm>-100000</l_min_erpm>
- <l_max_erpm>100000</l_max_erpm>
- <l_erpm_start>0.8</l_erpm_start>
- <l_max_erpm_fbrake>300</l_max_erpm_fbrake>
- <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
- <l_min_vin>8</l_min_vin>
- <l_max_vin>57</l_max_vin>
- <l_battery_cut_start>6</l_battery_cut_start>
- <l_battery_cut_end>6</l_battery_cut_end>
- <l_slow_abs_current>1</l_slow_abs_current>
- <l_temp_fet_start>85</l_temp_fet_start>
- <l_temp_fet_end>100</l_temp_fet_end>
- <l_temp_motor_start>85</l_temp_motor_start>
- <l_temp_motor_end>100</l_temp_motor_end>
- <l_temp_accel_dec>0.15</l_temp_accel_dec>
- <l_min_duty>0.005</l_min_duty>
- <l_max_duty>0.95</l_max_duty>
- <l_watt_max>1.5e+06</l_watt_max>
- <l_watt_min>-1.5e+06</l_watt_min>
- <l_current_max_scale>1</l_current_max_scale>
- <l_current_min_scale>1</l_current_min_scale>
- <sl_min_erpm>150</sl_min_erpm>
- <sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
- <sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
- <sl_cycle_int_limit>341.8</sl_cycle_int_limit>
- <sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
- <sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
- <sl_bemf_coupling_k>327.44</sl_bemf_coupling_k>
- <hall_table__0>-1</hall_table__0>
- <hall_table__1>1</hall_table__1>
- <hall_table__2>3</hall_table__2>
- <hall_table__3>2</hall_table__3>
- <hall_table__4>5</hall_table__4>
- <hall_table__5>6</hall_table__5>
- <hall_table__6>4</hall_table__6>
- <hall_table__7>-1</hall_table__7>
- <hall_sl_erpm>2000</hall_sl_erpm>
- <foc_current_kp>0.0195</foc_current_kp>
- <foc_current_ki>13.55</foc_current_ki>
- <foc_f_sw>25000</foc_f_sw>
- <foc_dt_us>0.12</foc_dt_us>
- <foc_encoder_inverted>0</foc_encoder_inverted>
- <foc_encoder_offset>180</foc_encoder_offset>
- <foc_encoder_ratio>7</foc_encoder_ratio>
- <foc_encoder_sin_gain>1</foc_encoder_sin_gain>
- <foc_encoder_cos_gain>1</foc_encoder_cos_gain>
- <foc_encoder_sin_offset>1.65</foc_encoder_sin_offset>
- <foc_encoder_cos_offset>1.65</foc_encoder_cos_offset>
- <foc_encoder_sincos_filter_constant>0.5</foc_encoder_sincos_filter_constant>
- <foc_sensor_mode>0</foc_sensor_mode>
- <foc_pll_kp>2000</foc_pll_kp>
- <foc_pll_ki>30000</foc_pll_ki>
- <foc_motor_l>7.808e-05</foc_motor_l>
- <foc_motor_r>0.0542</foc_motor_r>
- <foc_motor_flux_linkage>0.013487</foc_motor_flux_linkage>
- <foc_observer_gain>1.01e+06</foc_observer_gain>
- <foc_observer_gain_slow>0.3</foc_observer_gain_slow>
- <foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
- <foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>
- <foc_openloop_rpm>300</foc_openloop_rpm>
- <foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
- <foc_sl_openloop_time>0.1</foc_sl_openloop_time>
- <foc_sl_d_current_duty>0</foc_sl_d_current_duty>
- <foc_sl_d_current_factor>0</foc_sl_d_current_factor>
- <foc_hall_table__0>255</foc_hall_table__0>
- <foc_hall_table__1>255</foc_hall_table__1>
- <foc_hall_table__2>255</foc_hall_table__2>
- <foc_hall_table__3>255</foc_hall_table__3>
- <foc_hall_table__4>255</foc_hall_table__4>
- <foc_hall_table__5>255</foc_hall_table__5>
- <foc_hall_table__6>255</foc_hall_table__6>
- <foc_hall_table__7>255</foc_hall_table__7>
- <foc_sl_erpm>2000</foc_sl_erpm>
- <foc_sample_v0_v7>0</foc_sample_v0_v7>
- <foc_sample_high_current>0</foc_sample_high_current>
- <foc_sat_comp>0</foc_sat_comp>
- <foc_temp_comp>0</foc_temp_comp>
- <foc_temp_comp_base_temp>25</foc_temp_comp_base_temp>
- <foc_current_filter_const>0.1</foc_current_filter_const>
- <foc_cc_decoupling>2</foc_cc_decoupling>
- <foc_observer_type>0</foc_observer_type>
- <foc_hfi_voltage_start>20</foc_hfi_voltage_start>
- <foc_hfi_voltage_run>4</foc_hfi_voltage_run>
- <foc_hfi_voltage_max>10</foc_hfi_voltage_max>
- <foc_sl_erpm_hfi>2000</foc_sl_erpm_hfi>
- <foc_hfi_start_samples>65</foc_hfi_start_samples>
- <foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
- <foc_hfi_samples>1</foc_hfi_samples>
- <gpd_buffer_notify_left>200</gpd_buffer_notify_left>
- <gpd_buffer_interpol>0</gpd_buffer_interpol>
- <gpd_current_filter_const>0.1</gpd_current_filter_const>
- <gpd_current_kp>0.03</gpd_current_kp>
- <gpd_current_ki>50</gpd_current_ki>
- <s_pid_kp>0.004</s_pid_kp>
- <s_pid_ki>0.004</s_pid_ki>
- <s_pid_kd>0.0001</s_pid_kd>
- <s_pid_kd_filter>0.2</s_pid_kd_filter>
- <s_pid_min_erpm>900</s_pid_min_erpm>
- <s_pid_allow_braking>1</s_pid_allow_braking>
- <p_pid_kp>0.03</p_pid_kp>
- <p_pid_ki>0</p_pid_ki>
- <p_pid_kd>0.0004</p_pid_kd>
- <p_pid_kd_filter>0.2</p_pid_kd_filter>
- <p_pid_ang_div>1</p_pid_ang_div>
- <cc_startup_boost_duty>0.01</cc_startup_boost_duty>
- <cc_min_current>0.05</cc_min_current>
- <cc_gain>0.0046</cc_gain>
- <cc_ramp_step_max>0.04</cc_ramp_step_max>
- <m_fault_stop_time_ms>500</m_fault_stop_time_ms>
- <m_duty_ramp_step>0.02</m_duty_ramp_step>
- <m_current_backoff_gain>0.5</m_current_backoff_gain>
- <m_encoder_counts>8192</m_encoder_counts>
- <m_sensor_port_mode>0</m_sensor_port_mode>
- <m_invert_direction>0</m_invert_direction>
- <m_drv8301_oc_mode>0</m_drv8301_oc_mode>
- <m_drv8301_oc_adj>16</m_drv8301_oc_adj>
- <m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
- <m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
- <m_dc_f_sw>25000</m_dc_f_sw>
- <m_ntc_motor_beta>3380</m_ntc_motor_beta>
- <m_out_aux_mode>0</m_out_aux_mode>
- <m_motor_temp_sens_type>0</m_motor_temp_sens_type>
- <m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
- <si_motor_poles>46</si_motor_poles>
- <si_gear_ratio>1</si_gear_ratio>
- <si_wheel_diameter>0.3048</si_wheel_diameter>
- <si_battery_type>2</si_battery_type>
- <si_battery_cells>2</si_battery_cells>
- <si_battery_ah>9</si_battery_ah>
- <motor_brand>Unnamed</motor_brand>
- <motor_model>Not Specified</motor_model>
- <motor_weight>0</motor_weight>
- <motor_poles>14</motor_poles>
- <motor_sensor_type>0</motor_sensor_type>
- <motor_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
- <html><head><meta name="qrichtext" content="1" /><style type="text/css">
- p, li { white-space: pre-wrap; }
- </style></head><body style=" font-family:'DejaVu Sans'; font-size:11pt; font-weight:400; font-style:normal;">
- <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A motor description can be edited here.</p></body></html></motor_description>
- <motor_loss_torque>0.03</motor_loss_torque>
- <motor_quality_bearings>0</motor_quality_bearings>
- <motor_quality_magnets>0</motor_quality_magnets>
- <motor_quality_construction>0</motor_quality_construction>
- <motor_quality_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
- <html><head><meta name="qrichtext" content="1" /><style type="text/css">
- p, li { white-space: pre-wrap; }
- </style></head><body style=" font-family:'DejaVu Sans'; font-size:11pt; font-weight:400; font-style:normal;">
- <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Some comments about the motor quality. Images can be added as well.</p></body></html></motor_quality_description>
- </MCConfiguration>
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