32 lines
1005 B
C++
32 lines
1005 B
C++
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#ifndef __SENSORLESS_ESTIMATOR_HPP
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#define __SENSORLESS_ESTIMATOR_HPP
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#include "component.hpp"
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class SensorlessEstimator : public ODriveIntf::SensorlessEstimatorIntf {
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public:
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struct Config_t {
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float observer_gain = 1000.0f; // [rad/s]
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float pll_bandwidth = 1000.0f; // [rad/s]
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float pm_flux_linkage = 1.58e-3f; // [V / (rad/s)] { 5.51328895422 / (<pole pairs> * <rpm/v>) }
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};
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void reset();
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bool update();
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Axis* axis_ = nullptr; // set by Axis constructor
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Config_t config_;
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// TODO: expose on protocol
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Error error_ = ERROR_NONE;
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float pll_pos_ = 0.0f; // [rad]
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float flux_state_[2] = {0.0f, 0.0f}; // [Vs]
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float V_alpha_beta_memory_[2] = {0.0f, 0.0f}; // [V]
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OutputPort<float> phase_ = 0.0f; // [rad]
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OutputPort<float> phase_vel_ = 0.0f; // [rad/s]
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OutputPort<float> vel_estimate_ = 0.0f; // [turns/s]
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};
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#endif /* __SENSORLESS_ESTIMATOR_HPP */
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