|
I get i_alpha and i_beta (the result of the clarke transform. step 1 in the FOC algorithm), and those are used in the sensorless code for determining the back emf. But you need the derivative of them, which is extremely noisy. well, not anymore it isn't haha. took care of it! boomshakalaka! Also I quieted down (and corrected for filtering) valpha and vbeta (results of inverse park transform) and ialpha and ibeta. I think the process for finding the back emf is almost identical in the permanent magnet case. There will just be a few differences relating to the rotor flux angle to mechanical angle. that step is super easy for the permanent magnet motor. Well, super easier. well, more doable. haha.
|