Type of motors supported by VESC 6 MKIV

Not at this stage. It would need new code to support ACIM.

Here is a code that I find on other thread in here. Ayone tested, will this work with induction motor?

Its from here page 30 ->

https://repozitorij.svkst.unist.hr/islandora/object/ossst:883/datastream...

v o i d o b s e r v e r _ u p d a t e ( f l o a t v _ a l p h a , f l o a t v _ b e t a , f l o a t i _ a l p h a , f l o a t
i _ b e t a ,
f l o a t dt , v o l a t i l e f l o a t *x1 , v o l a t i l e f l o a t *x2 ,
v o l a t i l e f l o a t *phase , v o l a t i l e m o t o r _ a l l _ s t a t e _ t *motor ) {
30
v o l a t i l e m c _ c o n f i g u r a t i o n *conf_now = motor −>m_conf ;
c o n s t f l o a t L = ( 3 . 0 / 2 . 0 ) * conf_now −> f o c _ m o t o r _ l ;
f l o a t R = ( 3 . 0 / 2 . 0 ) * conf_now −> f o c _ m o t o r _ r ;
/ / S a t u r a t i o n c o m p e n s a t i o n
c o n s t f l o a t s i g n = ( motor −> m _ m o t o r _ s t a t e . i q * motor −> m _ m o t o r _ s t a t e . vq
) >= 0 . 0 ? 1 . 0 : − 1 . 0 ;
R −= R * s i g n * conf_now −> f o c _ s a t _ c o m p * ( motor −> m _ m o t o r _ s t a t e .
i _ a b s _ f i l t e r / conf_now −> l _ c u r r e n t _ m a x ) ;
/ / T e m p e r a t u r e c o m p e n s a t i o n
c o n s t f l o a t t = m c _ i n t e r f a c e _ t e m p _ m o t o r _ f i l t e r e d ( ) ;
i f ( conf_now −> foc_temp_comp && t > − 2 5 . 0 ) {
R += R * 0 . 0 0 3 8 6 * ( t − conf_now −> foc_temp_comp_base_temp ) ;
}
f l o a t r o t o r _ f l u x _ a l p h a = 0 . 0 ;
f l o a t r o t o r _ f l u x _ b e t a = 0 . 0 ;
f l o a t c o s _ r o t o r = 0 . 0 ;
f l o a t s i n _ r o t o r = 0 . 0 ;
c o n s t f l o a t L _ i a = L * i _ a l p h a ;
c o n s t f l o a t L_ib = L * i _ b e t a ;
c o n s t f l o a t R_ia = R * i _ a l p h a ;
c o n s t f l o a t R_ib = R * i _ b e t a ;
c o n s t f l o a t lambda_2 = SQ( conf_now −> f o c _ m o t o r _ f l u x _ l i n k a g e ) ;
c o n s t f l o a t gamma_half = motor −>m_gamma_now * 0 . 5 ;
c a s e FOC_OBSERVER_ORTEGA_ITERATIVE : {
f l o a t LrLm = . 5 ;
f l o a t s t a t o r _ f l u x _ a l p h a = v _ a l p h a − R_ia ;
f l o a t s t a t o r _ f l u x _ b e t a = v _ b e t a − R_ib ;
/ / I n t e g r a t e
s t a t o r _ f l u x _ a l p h a = s t a t o r _ f l u x _ a l p h a * d t ;
s t a t o r _ f l u x _ b e t a = s t a t o r _ f l u x _ b e t a * d t ;
r o t o r _ f l u x _ a l p h a = LrLm * ( s t a t o r _ f l u x _ a l p h a − L _ i a ) ;
r o t o r _ f l u x _ b e t a = LrLm * ( s t a t o r _ f l u x _ b e t a − L_ib ) ;
*x1 += s t a t o r _ f l u x _ a l p h a ;
31
*x2 += s t a t o r _ f l u x _ b e t a ;
} b r e a k ;
d e f a u l t :
b r e a k ;
}
UTILS_NAN_ZERO(* x1 ) ;
UTILS_NAN_ZERO(* x2 ) ;
i f ( p h a s e ) {
e l s e {
*p h a s e = u t i l s _ f a s t _ a t a n 2 ( r o t o r _ f l u x _ b e t a , r o t o r _ f l u x _ a l p h a ) ;
}
}
}