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Apply current limits,1804 line mcpwm_foc.c

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aishangmu
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Apply current limits,1804 line mcpwm_foc.c

// Apply current limits
// TODO: Consider D axis current for the input current as well.
const float mod_q = m_motor_state.mod_q;
if (mod_q > 0.001) {
utils_truncate_number(&iq_set_tmp, m_conf->lo_in_current_min / mod_q, m_conf->lo_in_current_max / mod_q);
} else if (mod_q utils_truncate_number(&iq_set_tmp, m_conf->lo_in_current_max / mod_q, m_conf->lo_in_current_min / mod_q);
}

if (mod_q > 0.0) {
utils_truncate_number(&iq_set_tmp, m_conf->lo_current_min, m_conf->lo_current_max);
} else {
utils_truncate_number(&iq_set_tmp, -m_conf->lo_current_max, -m_conf->lo_current_min);
}

What is the purpose of the above two current limits?

m_conf->lo_in_current_min / mod_q, m_conf->lo_in_current_max / mod_q -----What is the purpose of this sub-process?