FOC_current Function

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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

park transform
park transform697×150 4.71 KB

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@madcowswe might be able to help you out here

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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.

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