control_current implementation

Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
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Joined: 23 Jun 2016, 13:22

control_current implementation

Postby srinath » 17 Jan 2017, 08:12


I am looking at the FOC implementation in function control_current and have a couple of questions.
It seems to be a rather straightforward PI controller with antiwindup protection. But some terms are confusing...
What are mod_d and mod_q ?
Could someone explain the logic of dead time compensation ?

Is there any scenario where we would want to set id_target to a value other than 0 ?

At what update rate does the control_current code run ?

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