2017-07-09 22:03:00 +00:00
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load pmsm_limits
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load pmsm_ttc
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pmsm_limits0.rt_prio = 7
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pmsm_ttc0.rt_prio = 9
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pmsm_limits0.r = conf0.r
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pmsm_limits0.ld = conf0.l
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pmsm_limits0.lq = conf0.l
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pmsm_limits0.psi = conf0.psi
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pmsm_limits0.j = conf0.j
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pmsm_limits0.polecount = conf0.polecount
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pmsm_ttc0.psi = conf0.psi
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pmsm_ttc0.polecount = conf0.polecount
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pmsm_limits0.ac_volt = hv0.pwm_volt
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pmsm_limits0.iq = hv0.q_fb
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pmsm_limits0.id = hv0.d_fb
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2018-03-23 14:27:11 +00:00
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pmsm_ttc0.pos_in = vel2.pos_out
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2017-07-09 22:03:00 +00:00
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pid0.max_torque = pmsm_limits0.max_torque
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pid0.min_torque = pmsm_limits0.min_torque
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pid0.max_vel = pmsm_limits0.abs_max_vel
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pmsm_ttc0.torque = pid0.torque_cor_cmd
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2017-10-02 22:30:42 +00:00
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hv0.d_cmd = fb_switch0.id
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2017-07-09 22:03:00 +00:00
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hv0.q_cmd = pmsm_ttc0.cur
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2017-09-06 00:00:49 +00:00
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hv0.cmd_mode = 1
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hv0.phase_mode = 2
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2018-03-23 14:27:11 +00:00
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hv0.pos = pmsm_ttc0.pos_out
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