pmsm-control/test_sw/controllers.h

   1 /**
   2  * \brief
   3  * Speed and position regulators.
   4  * \author Martin Prudek
   5  * \file controllers.h
   6  *
   7  */
   8 #ifndef CONTROLLERS
   9 #define CONTROLLERS
  10
  11 #include "pmsm_state.h" /*pmsm state*/
  12 #include "rp_spi.h"     /*spi struct*/
  13
  14 #define PID_P           0.3
  15
  16 /*      RL-tool results from first order system approx  */
  17 /*      P=0.16 I=13,4/freq=0.013                        */
  18 /*      Hodnoty upraveny podle skutecnych vysledku      */
  19 /*      P=0.8   I=0.01                                  */
  20
  21 #define PID_P_S         0.16            /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
  22 #define PID_I_S         0.0134
  23
  24 /**
  25  * \brief No regulation.
  26  */
  27 inline void zero_controller(struct rpi_state*);
  28
  29 /**
  30  * \brief
  31  * Very simple position P regulator.
  32  * Now only with P-part so that the error doesnt go to zero.
  33  */
  34 void pos_pid(struct rpi_state*);
  35
  36 /**
  37  * \brief
  38  * Very simple PI speed regulator.
  39  */
  40 void spd_pid(struct rpi_state*);
  41
  42
  43 #endif /*CONTROLLERS*/