/*********************************************

        Vector control of PMSM Drive

        Control system parameters: gains, etc.

        Z. Peroutka

Rev. 16.3.2008

*********************************************/

// Max. motor current
#define Ismax   40.0 

// Current controllers
#define Kpi     20.            
#define Tii     0.005           
#define MAXi    1199.0

// Field weakening - controller RUrm
#define Kpurm   50.0           
#define Tiurm   0.05				
#define MINurm  (-0.95*Ismax)   
#define Tfurm   0.01            

// Speed controller
#define Kpw     3.0                     
#define Tiw     0.1
#define MAXw    Ismax