optimize PI control

EBiCS · Jan 4, 2025 · b4ab0ce · b4ab0ce
1 parent 1155ea1
commit b4ab0ce
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/Inc/config.h b/Inc/config.h
@@ -93,7 +93,7 @@
 //---------------------------------------------------------------------
 //power settings
 #define PH_CURRENT_MAX 1200
-#define BATTERYCURRENT_MAX 18000
+#define BATTERYCURRENT_MAX 12000
 #define REVERSE 1 //1 for normal direction, -1 for reverse
 #define PUSHASSIST_CURRENT 300
 #define VOLTAGE_MIN 1320 //33V

diff --git a/Src/main.c b/Src/main.c
@@ -357,15 +357,15 @@ if(MP.com_mode==Sensorless_openloop||MP.com_mode==Sensorless_startkick)MS.Obs_fl
   PI_id.setpoint = 0;
   PI_id.limit_output = _U_MAX;
   PI_id.max_step=5000;
-  PI_id.shift=10;
+  PI_id.shift=9;
   PI_id.limit_i=1800;
 
   PI_iq.gain_i=I_FACTOR_I_Q;
   PI_iq.gain_p=P_FACTOR_I_Q;
   PI_iq.setpoint = 0;
   PI_iq.limit_output = _U_MAX;
   PI_iq.max_step=5000;
-  PI_iq.shift=10;
+  PI_iq.shift=9;
   PI_iq.limit_i=_U_MAX;
 
 #ifdef SPEEDTHROTTLE
@@ -1014,7 +1014,7 @@ if(MP.com_mode==Sensorless_openloop||MP.com_mode==Sensorless_startkick)MS.Obs_fl
 				  MS.i_q_setpoint,
 				  MS.Speed,
 				  ui_8_PLL_counter,
-				  MS.Obs_flag,
+				  MS.Battery_Current,
 				  int32_temp_current_target ,
 				  MS.i_q,
 				  q31_angle_per_tic>>12,