FOC_current Function

Hi, I read the Motor::Foc_current function and i find the park transform use I_phase as electrical angle,but the inverse park transform use pwm_phase,and the relation is about pwm_phase=I_phase+1.5f*current_meas_period * phase_vel. I am a little ambiguous why park and inverse park transform use different angle,and why mutiply 1.5f in the equation of pwm_phase and I_phase?Thanks a lot… :grinning:inverse park

@madcowswe might be able to help you out here

The reason is that the current measurement and the PWM application happen approximately 1.5 control cycles apart, i.e. not at the same time.

OK,I got it and Thanks a lot :smile: