PWM and ALGO updated.. PWM getting generated
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of TFR_BAE_vr1_1working_finally_PWM_update by
Diff: ACS.cpp
- Revision:
- 11:0f71a96987bd
- Parent:
- 10:54598e22a857
- Child:
- 12:f82fbe93fab3
--- a/ACS.cpp Wed Mar 30 13:17:52 2016 +0000 +++ b/ACS.cpp Thu Mar 31 11:44:20 2016 +0000 @@ -482,4 +482,195 @@ } +/*void FCTN_ACS_GENPWM_MAIN(float Moment[3]) +{ + printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function + + float l_duty_cycle_x=0; //Duty cycle of Moment in x direction + float l_current_x=0; //Current sent in x TR's + float l_duty_cycle_y=0; //Duty cycle of Moment in y direction + float l_current_y=0; //Current sent in y TR's + float l_duty_cycle_z=0; //Duty cycle of Moment in z direction + float l_current_z=0; //Current sent in z TR's + + + for(int i = 0 ; i<3;i++) + { + printf("pwm %f \t ",Moment[i]); // taking the moment values from control algorithm as inputs + } + + //----------------------------- x-direction TR --------------------------------------------// + + + float l_moment_x = Moment[0]; //Moment in x direction + + phase_TR_x = 1; // setting the default current direction + if (l_moment_x <0) + { + phase_TR_x = 0; // if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high + l_moment_x = abs(l_moment_x); + } + + l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship + pc_acs.printf("current in trx is %f \r \n",l_current_x); + if( l_current_x>0 && l_current_x < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100% + { + l_duty_cycle_x = 6*1000000*pow(l_current_x,4) - 377291*pow(l_current_x,3) + 4689.6*pow(l_current_x,2) + 149.19*l_current_x - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation + pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); + PWM1.period(TIME_PERIOD); + PWM1 = l_duty_cycle_x/100 ; + } + else if( l_current_x >= 0.006 && l_current_x < 0.0116) + { + l_duty_cycle_x = 1*100000000*pow(l_current_x,4) - 5*1000000*pow(l_current_x,3) + 62603*pow(l_current_x,2) - 199.29*l_current_x + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation + pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); + PWM1.period(TIME_PERIOD); + PWM1 = l_duty_cycle_x/100 ; + } + else if (l_current_x >= 0.0116 && l_current_x < 0.0624) + { + l_duty_cycle_x = 212444*pow(l_current_x,4) - 33244*pow(l_current_x,3) + 1778.4*pow(l_current_x,2) + 120.91*l_current_x + 0.3878; // calculating upto 10% dutycycle by polynomial interpolation + pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); + PWM1.period(TIME_PERIOD); + PWM1 = l_duty_cycle_x/100 ; + } + else if(l_current_x >= 0.0624 && l_current_x < 0.555) + { + l_duty_cycle_x = 331.15*pow(l_current_x,4) - 368.09*pow(l_current_x,3) + 140.43*pow(l_current_x,2) + 158.59*l_current_x + 0.0338; // calculating upto 100% dutycycle by polynomial interpolation + pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); + PWM1.period(TIME_PERIOD); + PWM1 = l_duty_cycle_x/100 ; + } + else if(l_current_x==0) + { + printf("\n \r l_current_x====0"); + l_duty_cycle_x = 0; // default value of duty cycle + pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); + PWM1.period(TIME_PERIOD); + PWM1 = l_duty_cycle_x/100 ; + } + else //not necessary + { + g_err_flag_TR_x = 1; + } + + //------------------------------------- y-direction TR--------------------------------------// + + + float l_moment_y = Moment[1]; //Moment in y direction + + phase_TR_y = 1; // setting the default current direction + if (l_moment_y <0) + { + phase_TR_y = 0; //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high + l_moment_y = abs(l_moment_y); + } + + + l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship + pc_acs.printf("current in try is %f \r \n",l_current_y); + if( l_current_y>0 && l_current_y < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100% + { + l_duty_cycle_y = 6*1000000*pow(l_current_y,4) - 377291*pow(l_current_y,3) + 4689.6*pow(l_current_y,2) + 149.19*l_current_y - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation + pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); + PWM2.period(TIME_PERIOD); + PWM2 = l_duty_cycle_y/100 ; + } + else if( l_current_y >= 0.006 && l_current_y < 0.0116) + { + l_duty_cycle_y = 1*100000000*pow(l_current_y,4) - 5*1000000*pow(l_current_y,3) + 62603*pow(l_current_y,2) - 199.29*l_current_y + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation + pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); + PWM2.period(TIME_PERIOD); + PWM2 = l_duty_cycle_y/100 ; + } + else if (l_current_y >= 0.0116&& l_current_y < 0.0624) + { + l_duty_cycle_y = 212444*pow(l_current_y,4) - 33244*pow(l_current_y,3) + 1778.4*pow(l_current_y,2) + 120.91*l_current_y + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation + pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); + PWM2.period(TIME_PERIOD); + PWM2 = l_duty_cycle_y/100 ; + } + else if(l_current_y >= 0.0624 && l_current_y < 0.555) + { + l_duty_cycle_y = 331.15*pow(l_current_y,4) - 368.09*pow(l_current_y,3) + 140.43*pow(l_current_y,2) + 158.59*l_current_y + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation + pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); + PWM2.period(TIME_PERIOD); + PWM2 = l_duty_cycle_y/100 ; + } + else if(l_current_y==0) + { + printf("\n \r l_current_y====0"); + l_duty_cycle_y = 0; // default value of duty cycle + pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); + PWM2.period(TIME_PERIOD); + PWM2 = l_duty_cycle_y/100 ; + } + else // not necessary + { + g_err_flag_TR_y = 1; + } + + //----------------------------------------------- z-direction TR -------------------------// + + + float l_moment_z = Moment[2]; //Moment in z direction + + phase_TR_z = 1; // setting the default current direction + if (l_moment_z <0) + { + phase_TR_z = 0; //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high + l_moment_z = abs(l_moment_z); + } + + + l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship + pc_acs.printf("current in trz is %f \r \n",l_current_z); + if( l_current_z>0 && l_current_z < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100% + { + l_duty_cycle_z = 6*1000000*pow(l_current_z,4) - 377291*pow(l_current_z,3) + 4689.6*pow(l_current_z,2) + 149.19*l_current_z - 0.0008;// calculating upto 0.1% dutycycle by polynomial interpolation + pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); + PWM3.period(TIME_PERIOD); + PWM3 = l_duty_cycle_z/100 ; + } + else if( l_current_z >= 0.006 && l_current_z < 0.0116) + { + l_duty_cycle_z = 1*100000000*pow(l_current_z,4) - 5*1000000*pow(l_current_z,3) + 62603*pow(l_current_z,2) - 199.29*l_current_z + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation + pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); + PWM3.period(TIME_PERIOD); + PWM3 = l_duty_cycle_z/100 ; + } + else if (l_current_z >= 0.0116 && l_current_z < 0.0624) + { + l_duty_cycle_z = 212444*pow(l_current_z,4) - 33244*pow(l_current_z,3) + 1778.4*pow(l_current_z,2) + 120.91*l_current_z + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation + pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); + PWM3.period(TIME_PERIOD); + PWM3 = l_duty_cycle_z/100 ; + } + else if(l_current_z >= 0.0624 && l_current_z < 0.555) + { + l_duty_cycle_z = 331.15*pow(l_current_z,4) - 368.09*pow(l_current_z,3) + 140.43*pow(l_current_z,2) + 158.59*l_current_z + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation + pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); + PWM3.period(TIME_PERIOD); + PWM3 = l_duty_cycle_z/100 ; + } + else if(l_current_z==0) + { + printf("\n \r l_current_z====0"); + l_duty_cycle_z = 0; // default value of duty cycle + pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); + PWM3.period(TIME_PERIOD); + PWM3 = l_duty_cycle_z/100 ; + } + else // not necessary + { + g_err_flag_TR_z = 1; + } + + //-----------------------------------------exiting the function-----------------------------------// + + printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function + +}*/ + + \ No newline at end of file