math foo

[crinq]

• [x] multi mass system
• [ ] resonance suppression
• [ ] load + j observer
• [ ] rms error sat
• [ ] sensorless foc
• [x] async motor model
• [x] max_ac_cur -> cont_ac_current + max_overload + time_constant
• [ ] max_dc_cur, min_dc_cur adaptive limit (dc volt limit, power / regen limit)
• [ ] high_dc_volt -> only limit brake current
• [ ] max_power
• [ ] curpid sat
• [ ] curpid complex limit ud uq
• [x] curpid integrator period
• [x] curpid predictor
• [x] fix curpid max_cur clamp for volt mode
• [x] dq axis decoupling
• [x] fix stp
• [ ] multi axis lookahead planner
• [ ] stp 2.0
• [ ] plc + motion + io + magic comp
• [x] velbuf for cmd
• [x] observer bandwidth (critically damped)
• [ ] afc (bemf ripple, torque ripple, r, l, j, load, mag enc)
• [ ] e-stop comp
• [ ] disable pos error for autophase
• [ ] adc sat error