Koichi Kikkawa
20200821_motacon_ver4
Diff: BLDCmotorDriver.cpp
- Revision:
- 2:7aae78b85e1d
- Parent:
- 0:5602fba2a7f7
--- a/BLDCmotorDriver.cpp Fri May 22 22:43:39 2015 +0000
+++ b/BLDCmotorDriver.cpp Mon Jun 01 13:40:39 2015 +0000
@@ -1,11 +1,24 @@
#include "BLDCmotorDriver.h"
-BLDCmotorDriver::BLDCmotorDriver(PinName gh_a, PinName gl_a, PinName gh_b, PinName gl_b, PinName gh_c, PinName gl_c, PinName h1, PinName h2, PinName h3, PinName led1) : GH_A(gh_a), GL_A(gl_a), GH_B(gh_b), GL_B(gl_b), GH_C(gh_c), GL_C(gl_c), H1(h1), H2(h2), H3(h3), Led1(led1) {
+BLDCmotorDriver::BLDCmotorDriver(PinName pGH_A, PinName pGH_B, PinName pGH_C, PinName pGL_A, PinName pGL_B, PinName pGL_C,
+ PinName pH1, PinName pH2, PinName pH3, PinName pFault) :
+ GH_A(pGH_A), GH_B(pGH_B), GH_C(pGH_C), GL_A(pGL_A), GL_B(pGL_B), GL_C(pGL_C),
+ H1(pH1), H2(pH2), H3(pH3), Fault(LED1){
+
sampleTime = 1e-3;
switchingPeriod = 1.0 / 20e3;
dutyCycle = tempDutyCycle = 0;
GH_A.period(switchingPeriod); // applies to all PwmOut instances
rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
+ //H1.mode(PullNone);
+ //H2.mode(PullNone);
+ //H3.mode(PullNone);
+ H1.rise(this, &BLDCmotorDriver::commutation);
+ H2.rise(this, &BLDCmotorDriver::commutation);
+ H3.rise(this, &BLDCmotorDriver::commutation);
+ H1.fall(this, &BLDCmotorDriver::commutation);
+ H2.fall(this, &BLDCmotorDriver::commutation);
+ H3.fall(this, &BLDCmotorDriver::commutation);
}
void BLDCmotorDriver::configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope) {
if (sampleTime < 1e-6)
@@ -20,57 +33,74 @@
switchingPeriod = 1.0 / switchingFrequency;
rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
}
-int BLDCmotorDriver::HallRead(){ // hall 120°
-
- if(H1.read()== 1 && H2.read()== 0 && H3.read()== 0)
- sektor = 1;
- else if(H1.read()== 1 && H2.read()== 1 && H3.read()== 0)
- sektor = 2;
- else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 0)
- sektor = 3;
- else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 1)
- sektor = 4;
- else if(H1.read()== 0 && H2.read()== 0 && H3.read()== 1)
- sektor = 5;
- else if(H1.read()== 1 && H2.read()== 0 && H3.read()== 1)
- sektor = 6;
- else
- Led1 = 1;
-
- return sektor;
-}
-void BLDCmotorDriver::komutacijaBLDC() {
- dutyCycle = rl.out(tempDutyCycle);
- sektor = HallRead();
+int BLDCmotorDriver::getSector(){ // hall 120°
+
+ h1 = H1.read();
+ h2 = H2.read();
+ h3 = H3.read();
+
+
+ if(h1 == 0 && h2 == 0 && h3 == 1){
+ _currentSector = 0;
+ }
+ else if(h1 == 0 && h2 == 1 && h3 == 1){
+ _currentSector = 1;
+ }
+ else if(h1 == 0 && h2 == 1 && h3 == 0){
+ _currentSector = 2;
+ }
+ else if(h1 == 1 && h2 == 1 && h3 == 0){
+ _currentSector = 3;
+ }
+ else if(h1 == 1 && h2 == 0 && h3 == 0){
+ _currentSector = 4;
+ }
+ else if(h1 == 1 && h2 == 0 && h3 == 1){
+ _currentSector = 5;
+ }
+ previousSector = _currentSector - 1;
+ difference = _currentSector - previousSector;
+ if (difference == 1){
+ currentSector = _currentSector;
+ Fault = 0;
+ }
+ else Fault = 1;
+return currentSector;
+}
+
+void BLDCmotorDriver::commutation() {
+ dutyCycle = rl.out(tempDutyCycle);
+ currentSector = getSector();
if (dutyCycle > 0) {
- if (sektor > 6) sektor = 1;
- sektor++;
- switch(sektor) {
- case 1: //100
+ currentSector++;
+ if(currentSector > 5)currentSector = 0;
+ switch(currentSector) {
+
+ case 0: //001
GH_A = dutyCycle;
GL_A = 0;
GH_B = 0;
GL_B = 0;
GH_C = 0;
+ GL_C = 1;
+ break;
+ case 1:
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
GL_C = 1;
break;
- case 2: //110
- GH_A = dutyCycle;
- GL_A = 0;
- GH_B = 0;
- GL_B = 1;
+ case 2:
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = dutyCycle;
+ GL_B = 0;
GH_C = 0;
GL_C = 0;
break;
- case 3: //010
- GH_A = 0;
- GL_A = 0;
- GH_B = 0;
- GL_B = 1;
- GH_C = dutyCycle;
- GL_C = 0;
- break;
- case 4: //011
+ case 3:
GH_A = 0;
GL_A = 1;
GH_B = 0;
@@ -78,75 +108,75 @@
GH_C = dutyCycle;
GL_C = 0;
break;
- case 5: //001
- GH_A = 0;
- GL_A = 1;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 0;
- break;
- case 6: //101
- GH_A = 0;
- GL_A = 0;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 1;
- break;
- }
- } else if (dutyCycle < 0) { //
- if (sektor < 1) sektor = 6;
- sektor--;
- switch(sektor) {
- case 1: //100
- GH_A = dutyCycle;
- GL_A = 0;
- GH_B = 0;
- GL_B = 0;
- GH_C = 0;
- GL_C = 1;
- break;
- case 2: //110
- GH_A = dutyCycle;
- GL_A = 0;
- GH_B = 0;
- GL_B = 1;
- GH_C = 0;
- GL_C = 0;
- break;
- case 3: //010
+ case 4:
GH_A = 0;
GL_A = 0;
GH_B = 0;
GL_B = 1;
GH_C = dutyCycle;
GL_C = 0;
+ break;
+ case 5:
+ GH_A = dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = 0;
+ GL_C = 0;
break;
- case 4: //011
+ }
+ } else if (dutyCycle < 0) {
+ currentSector--;
+ if(currentSector < 0)currentSector = 5;
+ switch(currentSector) {
+ case 0:
+ GH_A = -dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 1:
+ GH_A = -dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ case 2:
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = -dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ case 3:
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = -dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 4:
GH_A = 0;
GL_A = 1;
GH_B = 0;
GL_B = 0;
- GH_C = dutyCycle;
+ GH_C = -dutyCycle;
GL_C = 0;
break;
- case 5: //001
- GH_A = 0;
- GL_A = 1;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 0;
- break;
- case 6: //101
+ case 5:
GH_A = 0;
GL_A = 0;
- GH_B = dutyCycle;
- GL_B = 0;
- GH_C = 0;
- GL_C = 1;
- break;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = -dutyCycle;
+ GL_C = 0;
+ break;
}
}else {
coast();
@@ -154,12 +184,18 @@
}
void BLDCmotorDriver::setDutyCycle(float dc) {
if (dc >= -1 && dc <= 1) {
- ticker.attach(this, &BLDCmotorDriver::komutacijaBLDC, sampleTime);
+ ticker.attach(this, &BLDCmotorDriver::commutation, sampleTime);
tempDutyCycle = dc;
} else {
coast();
}
}
+/*void BLDCmotorDriver::adjustDutyCycle() {
+ dutyCycle = rl.out(tempDutyCycle);
+ float diff = tempDutyCycle - dutyCycle;
+ if (diff < 0.01 || diff > -0.01)
+ ticker.detach();
+}*/
void BLDCmotorDriver::coast() {
GH_A = 0;
GL_A = 0;