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 ?
Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
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