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pmsm limits psi_d doc, renamed psi_m to psi
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@ -35,27 +35,27 @@ RT(
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float p = (int)MAX(PIN(polecount), 1.0);
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//float ld = MAX(PIN(ld), 0.0001);
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float lq = MAX(PIN(lq), 0.0001);
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float psi_m = MAX(PIN(psi), 0.01);
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float psi = MAX(PIN(psi), 0.01);
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float r = MAX(PIN(r), 0.001);
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float iq = PIN(iq);
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float indq = PIN(indq);
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float psid = PIN(psi);
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float psid = psi;// psi + ld * id
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float volt = PIN(ac_volt);
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float abs_max_cur = volt / r;
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float abs_max_vel = volt / psid / p;
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float abs_max_torque = 3.0 / 2.0 * p * psi_m * abs_max_cur;
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float abs_max_torque = 3.0 / 2.0 * p * psi * abs_max_cur;
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float next_max_cur = iq + (volt - r * iq - indq) / lq * period;
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float next_min_cur = iq + (-volt - r * iq - indq) / lq * period;
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float next_max_torque = 3.0 / 2.0 * p * (psi_m * next_max_cur);
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float next_min_torque = 3.0 / 2.0 * p * (psi_m * next_min_cur);
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float next_max_torque = 3.0 / 2.0 * p * (psi * next_max_cur);
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float next_min_torque = 3.0 / 2.0 * p * (psi * next_min_cur);
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float max_cur = (volt - indq) / r;
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float min_cur = (-volt - indq) / r;
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float max_torque = 3.0 / 2.0 * p * (psi_m * max_cur);
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float min_torque = 3.0 / 2.0 * p * (psi_m * min_cur);
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float max_torque = 3.0 / 2.0 * p * (psi * max_cur);
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float min_torque = 3.0 / 2.0 * p * (psi * min_cur);
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PIN(abs_max_cur) = abs_max_cur;
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