Hey y’all!
I would like to use the measured q_axis readings for modeling purposes. As far as I know, the Odrive Pro firmware assumes the motor is wye/star wound, and scales phase current measurements accordingly. And as far as I can tell, Odrive Pro uses the amplitude invariant form of the Clarke transform (rather than the power invariant). Can anyone confirm this? I know that for most purposes this really doesn’t matter, but I am doing a bit of energy accounting, so making sure I truly understand the measured q_axis value is important to me.
Thanks!