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Motor Parameters

D-Q Axis and motor parameters

Motor phase resistance

The results of the motor phase resistance test is stored in motor_Rd or motor_Rq depending on the configured axis. Running the test will overwrite any value already stored.

The motor phase resistance parameters are used in current controller decoupling and to determine controller gains.

Motor phase inductance

The results of the motor phase inductance test is stored in motor_Ld or motor_Lq depending on the configured axis. Running the test will overwrite any value already stored.

The motor phase inductance parameters are used in current controller decoupling and to determine controller gains.

Motor flux linkage

Motor flux linkage is used in current controller decoupling.

Motor pole pairs

To ensure correct operation the motor pole pairs must be configured correctly for each motor.

Motor phase swap

For motors that are soldered in backwards, or motors with no identifying phase markings, motor phases A and B can be swapped by configuring parameter motor_phase_swap.

Motor torque constant

Motor torque constant that is used internally to map an incoming torque command to a current. If the motor torque constant is used, it is advisable to rename JCS command signal i_q to something that reflects the fact that the incoming signal is now a torque command, rather than a current command.

See Controller mode: current_dq for further details.

Command Type Required Description
motor_Rd float32 Optional D axis motor winding resistance (Ohm).
motor_Rq float32 Optional Q axis motor winding resistance (Ohm).
motor_Ld float32 Optional D axis motor winding inductance (Henry).
motor_Lq float32 Optional Q axis motor winding inductance (Henry).
motor_Ym float32 Optional Flux linkage
motor_pp uint32 Required Number of motor pole pairs.
motor_phase_swap bool Optional Swaps phase A and B.
False: Motor phases NOT swapped.
True: Motor phases swapped.
motor_Kt float32 Optional Motor torque constant (Nm/A).
Default: 1.0