*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,31 @@
+#ifndef __SENSORLESS_ESTIMATOR_HPP
+#define __SENSORLESS_ESTIMATOR_HPP
+
+#include "component.hpp"
+
+class SensorlessEstimator : public ODriveIntf::SensorlessEstimatorIntf {
+public:
+    struct Config_t {
+        float observer_gain = 1000.0f; // [rad/s]
+        float pll_bandwidth = 1000.0f;  // [rad/s]
+        float pm_flux_linkage = 1.58e-3f; // [V / (rad/s)]  { 5.51328895422 / (<pole pairs> * <rpm/v>) }
+    };
+
+    void reset();
+    bool update();
+
+    Axis* axis_ = nullptr; // set by Axis constructor
+    Config_t config_;
+
+    // TODO: expose on protocol
+    Error error_ = ERROR_NONE;
+    float pll_pos_ = 0.0f;                      // [rad]
+    float flux_state_[2] = {0.0f, 0.0f};        // [Vs]
+    float V_alpha_beta_memory_[2] = {0.0f, 0.0f}; // [V]
+
+    OutputPort<float> phase_ = 0.0f;                   // [rad]
+    OutputPort<float> phase_vel_ = 0.0f;               // [rad/s]
+    OutputPort<float> vel_estimate_ = 0.0f;            // [turns/s]
+};
+
+#endif /* __SENSORLESS_ESTIMATOR_HPP */