Revision 12:c473a25f54f7, committed 2016-05-22

Comitter:

benkatz

Date:

Sun May 22 03:38:19 2016 +0000

Parent:

11:c83b18d41e54

Child:

13:a3fa0a31b114

Commit message:

experimental feed-forward decoupling;

Changed in this revision

--- a/CurrentRegulator/CurrentRegulator.cpp	Sun May 22 00:14:59 2016 +0000
+++ b/CurrentRegulator/CurrentRegulator.cpp	Sun May 22 03:38:19 2016 +0000
@@ -7,10 +7,11 @@
 
 using namespace Transforms;
 
-CurrentRegulator::CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, float Kp, float Ki){
+CurrentRegulator::CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, PositionSensor *velocity_sensor, float L, float Kp, float Ki){
     _Inverter = inverter;
     PWM = new SVPWM(inverter, 2.0);
     _PositionSensor = position_sensor;
+    _VelocitySensor = velocity_sensor;
     IQ_Ref = 0;
     Q_Max = 40.0f;
     ID_Ref = 0;
@@ -29,6 +30,7 @@
     I_Alpha = 0;
     I_Beta = 0;
     count = 0;
+    _L = L;
     _Kp = Kp;
     _Ki = Ki;
     Q_Integral = 0;
@@ -108,6 +110,7 @@
 void CurrentRegulator::Update(){
         float Q_Error = IQ_Ref - I_Q;
         float D_Error = ID_Ref - I_D;
+        float w_elec = _velocitySensor.GetElecVelocity();
         
         Q_Integral += Q_Error*_Ki*_Kp;
         D_Integral += D_Error*_Ki*_Kp;
@@ -118,7 +121,9 @@
         else if(D_Integral < -Int_Max) D_Integral = -Int_Max;       
          
         V_Q = Q_Integral + _Kp*Q_Error;
-        V_D = D_Integral + _Kp*D_Error;        
+        //V_Q = V_Q - w_elec*I_D;
+        V_D = D_Integral + _Kp*D_Error;     
+        //V_D = V_D + w_elec*I_Q;   //decoupling needs moar testing
     }
         
 void CurrentRegulator::SetVoltage(){

--- a/CurrentRegulator/CurrentRegulator.h	Sun May 22 00:14:59 2016 +0000
+++ b/CurrentRegulator/CurrentRegulator.h	Sun May 22 03:38:19 2016 +0000
@@ -7,13 +7,13 @@
 
 class CurrentRegulator{
     public:
-        CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, float Kp, float Ki);
+        CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, PositionSensor *velocity_sensor, float L, float Kp, float Ki);
         void UpdateRef(float D, float Q);
         void Commutate();
         void Reset();
         virtual float GetQ();
     private:
-        float IQ_Ref, ID_Ref, V_Q, V_D, V_Alpha, V_Beta, V_A, V_B, V_C, I_Q, I_D, I_A, I_B, I_C, I_Alpha, I_Beta, theta_elec, _Kp, _Ki;
+        float IQ_Ref, ID_Ref, V_Q, V_D, V_Alpha, V_Beta, V_A, V_B, V_C, I_Q, I_D, I_A, I_B, I_C, I_Alpha, I_Beta, theta_elec, _Kp, _Ki, _L;
         float Q_Integral, D_Integral, Q_Error, D_Error, Int_Max, DTC_Max, Q_Max;
         void SampleCurrent();
         void SetVoltage();
@@ -21,6 +21,7 @@
         void SendSPI();
         Inverter* _Inverter;
         PositionSensor* _PositionSensor;
+        PositionSensor* _VelocitySensor;
         SVM* PWM;
         //Serial* pc;
         int count;

--- a/PositionSensor/PositionSensor.cpp	Sun May 22 00:14:59 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun May 22 03:38:19 2016 +0000
@@ -140,9 +140,7 @@
 }
 
 float PositionSensorEncoder::GetElecVelocity(){
-    float rawPeriod = TIM2->CCR1; //Clock Ticks
-    float  dir = (((TIM3->CR1)>>4)&1)*2-1;    // +/- 1
-    return dir*_ppairs*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
+    return _ppairs*GetMechVelocity();
     }
     
 float PositionSensorEncoder::GetMechVelocity(){

--- a/main.cpp	Sun May 22 00:14:59 2016 +0000
+++ b/main.cpp	Sun May 22 03:38:19 2016 +0000
@@ -28,7 +28,7 @@
 
 
 
-CurrentRegulator foc(&inverter, &spi, .005, .5);    
+CurrentRegulator foc(&inverter, &spi, &encoder, 0.000033, .005, .5);    
 TorqueController torqueController(.031f, &foc);
 ImpedanceController impedanceController(&torqueController, &spi, &encoder);