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sahil-kale / basilisk-actuator-control-lib

Hardware-agnostic library enabling field oriented control of of PMSM and BLDC Motors
https://sahil-kale.github.io/basilisk-actuator-control-lib/
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Add Phase Inductance/Resistance Estimator #13

Closed sahil-kale closed 8 months ago

sahil-kale commented 11 months ago

Phase and Resistance Estimation is required for estimating the PI gains used by FOC.

sahil-kale commented 8 months ago

Phase inductance estimation can be done by knowing that V = L*di/dt Applying a constant voltage step and measuring the rise time of the current will allow us to determine the current. There is resistance in the form of the motor and the shunt, but these are usually trivial when determining the phase inductance and it's pretty triangular. (as mentioned by solomon in here)

sahil-kale commented 8 months ago

For resistance estimation, we can derive the phase resistance by creating a closed-loop current controller and then measuring the phase voltage

sahil-kale commented 8 months ago

https://github.com/sahil-kale/basilisk-actuator-control-lib/issues/37

sahil-kale commented 8 months ago

Implemented in https://github.com/sahil-kale/basilisk-actuator-control-lib/pull/72