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Published 20 hours ago • verified publisher icon geez0x1

BEMF term in the Current Controller model

Open VishnuDevA7 opened this issue 5 years ago • 1 comments

The current controller model in the cjt_library_controllers.mdl contains a gain (1/k_t) that multiplies the motor velocity to compute the back-EMF compensation term. Is this right? Shouldn't the gain instead be k_t ?

Back-EMF = k_t * motor velocity

VishnuDevA7 avatar Feb 19 '20 13:02 VishnuDevA7

Yep that seems to be a bug... sloppy. I will try to look into this soon, but for now you can simply invert that gain.

geez0x1 avatar Feb 24 '20 08:02 geez0x1