X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/b98f70ee3eed3af0cbbc9d5869ac1e7626534ef4..34c6632a92d19c06bbdef9dcc4eb754b21ade81d:/pmsm-control/test_sw/controllers.h

diff --git a/pmsm-control/test_sw/controllers.h b/pmsm-control/test_sw/controllers.h
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+/**
+ * \brief
+ * Speed and position regulators.
+ * \author Martin Prudek
+ * \file controllers.h
+ *
+ */
+#ifndef CONTROLLERS
+#define CONTROLLERS
+
+#include "pmsm_state.h"	/*pmsm state*/
+#include "rp_spi.h"	/*spi struct*/
+
+#define PID_P		0.3
+
+/* 	RL-tool results from first order system approx	*/
+/*	P=0.16 I=13,4/freq=0.013			*/
+/*	Hodnoty upraveny podle skutecnych vysledku	*/
+/*	P=0.8	I=0.01					*/
+
+#define PID_P_S		0.16 		/*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S		0.0134
+
+/**
+ * \brief
+ * Very simple position P regulator.
+ * Now only with P-part so that the error doesnt go to zero.
+ */
+void pos_pid(struct rpi_state* state);
+
+/**
+ * \brief
+ * Very simple PI speed regulator.
+ */
+void spd_pid(struct rpi_state* state);
+
+
+#endif /*CONTROLLERS*/