20200821_motacon_ver4

Files at this revision

API Documentation at this revision

Comitter:
MPPT51
Date:
Fri Aug 21 08:29:01 2020 +0000
Parent:
5:cf8183ae80ef
Commit message:
20200821_motacon_ver4

Changed in this revision

BLDCmotorDriver.cpp Show annotated file Show diff for this revision Revisions of this file
BLDCmotorDriver.h Show annotated file Show diff for this revision Revisions of this file
diff -r cf8183ae80ef -r 51643d078474 BLDCmotorDriver.cpp
--- a/BLDCmotorDriver.cpp	Fri Mar 13 01:07:30 2020 +0000
+++ b/BLDCmotorDriver.cpp	Fri Aug 21 08:29:01 2020 +0000
@@ -4,181 +4,132 @@
                     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;
+    HS_usec = 1e9;  //速度表示を0にするため、最初にHS_usecを非常に大きい値にする。HS_usecが0だとprintfにinfと表示される。(main関数での計算上そうなる)              
+    sampleTime = 1e-4;
+    switchingPeriod = 1.0 / 20e3;   //PWMの周波数を20kHzにしている
     dutyCycle = tempDutyCycle = 0;
-    GH_A.period(switchingPeriod); // applies to all PwmOut instances
-//    rl.setLimits(0.1, -0.5, 0, sampleTime); // initial 10 second ramp
-    //H1.mode(PullNone);
-    //H2.mode(PullNone);
-    //H3.mode(PullNone);
-    H1.rise(this, &BLDCmotorDriver::commutation);
+    GL_A.period(switchingPeriod); // applies to all PwmOut instances
+    H1.rise(this, &BLDCmotorDriver::H1rise);    //U相ホールセンサの立上りだけ回転数計測処理してからcommutation処理するようにしている
     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)
-        sampleTime = 1e-3;
-    if (switchingFrequency < 100)
-        switchingFrequency = 20e3;
-    if (rampUpSlope < 0 || rampUpSlope > 1)
-        rampUpSlope = 0.1;
-    if (rampDownSlope > 0 || rampDownSlope < -1)
-        rampDownSlope = -0.1;
-    this->sampleTime = sampleTime;
-    switchingPeriod = 1.0 / switchingFrequency;
-    rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
-}
-int BLDCmotorDriver::getSector(){           // hall 120°
-    
+} 
+
+int BLDCmotorDriver::getSector(){           //ホールセンサ信号読み取り モータ回転角検出
     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; }           
+    currentSector = _currentSector;
+    Fault = 0;
+    return currentSector;                
+}  
+void BLDCmotorDriver::H1rise()  {   //H1 (U相ホールセンサ)
+    /*回転数計測処理開始*/
+/*  計測方法1 */  
+/* 
+    HScnt++;
+    t.stop();
+    rpm_a = t.read_us();
+    rpm_b = rpm_b - HS_usec;
+    rpm_b = rpm_b + rpm_a;
+    HS_usec = rpm_b / 20;
+    t.reset();
+    t.start();
+*/
+/*  計測方法2 */    //こちらの方が安定している。
+///*
+    HS_check = 0;   //ホールセンサ割込みが起きていることを表すため0を代入
+    HS_cnt++;
+    t.stop();
+    if( t.read_ms() >= 100 ){
+        HS_usec = t.read_us() / HS_cnt;
+        HS_cnt = 0;
+        t.reset();
+    }
+    t.start();
+//*/
+    /*回転数計測処理終了*/
+    commutation();     //駆動信号出力処理に飛ぶ
+}    
+void BLDCmotorDriver::commutation()  {
+    if( t.read_ms() >= 120 && HS_check ){   //ホールセンサ(U相立上り)割り込みが一定時間発生していない(モータが回転していない場合)の処理
+        HS_usec = 1e9;  //速度表示を0にするためHS_usecを非常に大きい値にする
+    }
+    HS_check = 1;   //ホールセンサ割込み関数で0に戻される。割込みが起きない場合(1のまま一定時間過ぎると)HS_usecに1e9代入する処理に繋がる。
     
-     
-    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();
+    dutyCycle = tempDutyCycle;
+    currentSector = getSector();
     if (dutyCycle > 0) {
-        currentSector++;
-        if(currentSector > 5)currentSector = 0;
-        switch(currentSector) {  
-        
-          case 0:               //001     
-                GL_C = 0;                
-                GL_B = 0;
-                GL_A = 1;
-                GH_C = 0;
-                GH_B = dutyCycle;
-                GH_A = 0;
-                break;
-           case 1:            
-                GL_C = 1;
-                GL_B = 0;
-                GL_A = 0;
-                GH_C = 0;
-                GH_B = dutyCycle;
-                GH_A = 0; 
-                break;
-           case 2:             
-                GL_C = 1;
-                GL_B = 0;
-                GL_A = 0;
-                GH_C = 0;
-                GH_B = 0;
-                GH_A = dutyCycle;
-                break;
-            case 3:             
-                GL_C = 0;
-                GL_B = 1;
-                GL_A = 0;
-                GH_C = 0;
-                GH_B = 0;
-                GH_A = dutyCycle;
-                break;
-            case 4:              
-                GL_C = 0;
-                GL_B = 1;
-                GL_A = 0;
-                GH_C = dutyCycle;
-                GH_B = 0;
-                GH_A = 0;
-                break;    
-            case 5:              
-                GL_C = 0;
-                GL_B = 0;
-                GL_A = 1;
-                GH_C = dutyCycle;
-                GH_B = 0;
-                GH_A = 0;
-                break;
+        if( !direction ){
+            currentSector++;
+            if(currentSector > 5){
+                currentSector = 0;
+            }
+            switch(currentSector) {         /*正転*/        
+                case 0:               //001     
+                    GL_C = 0; GL_B = 0; GL_A = dutyCycle; GH_C = 0; GH_B = 1; GH_A = 0;
+                    break;
+                case 1:            
+                    GL_C = dutyCycle; GL_B = 0; GL_A = 0; GH_C = 0; GH_B = 1; GH_A = 0; 
+                    break;
+                case 2:             
+                    GL_C = dutyCycle; GL_B = 0; GL_A = 0; GH_C = 0; GH_B = 0; GH_A = 1;
+                    break;
+                case 3:             
+                    GL_C = 0; GL_B = dutyCycle; GL_A = 0; GH_C = 0; GH_B = 0; GH_A = 1;
+                    break;
+                case 4:              
+                    GL_C = 0; GL_B = dutyCycle; GL_A = 0; GH_C = 1; GH_B = 0; GH_A = 0;
+                    break;    
+                case 5:              
+                    GL_C = 0; GL_B = 0; GL_A = dutyCycle; GH_C = 1; GH_B = 0; GH_A = 0;
+                    break;
+            }
+        }
+        else if ( direction ) {    //dutyがマイナスかつ進行方向が後退になっている場合
+            GL_C = dutyCycle; GL_B = dutyCycle; GL_A = dutyCycle; GH_C = 0; GH_B = 0; GH_A = 0;  //回生動作する            
         }
-    } else if (dutyCycle < 0) { 
-        currentSector--;
-        if(currentSector < 0)currentSector = 5;
-        switch(currentSector) {
-          case 0:
-                GL_C = 0;
-                GL_B = 0;
-                GL_A = 1;
-                GH_C = -dutyCycle;
-                GH_B = 0;              
-                GH_A = 0;
-                break;
-          case 1:                 
-                GL_C = 0;
-                GL_B = 0;
-                GL_A = 1;
-                GH_C = 0;
-                GH_B = -dutyCycle;
-                GH_A = 0;
-                break;
-           case 2:
-                GL_C = 1;
-                GL_B = 0;
-                GL_A = 0;
-                GH_C = 0;
-                GH_B = -dutyCycle;            
-                GH_A = 0;
-                break;
-           case 3:
-                GL_C = 1;
-                GL_B = 0;
-                GL_A = 0;
-                GH_C = 0;
-                GH_B = 0;      
-                GH_A = -dutyCycle;
-                break;
-            case 4:
-                GL_C = 0;
-                GL_B = 1;
-                GL_A = 0;
-                GH_C = 0;
-                GH_B = 0;
-                GH_A = -dutyCycle;
-                break;
-            case 5:
-                GL_C = 0;
-                GL_B = 1;
-                GL_A = 0;
-                GH_C = -dutyCycle;
-                GH_B = 0;     
-                GH_A = 0;
-                break;    
-                }                
-        }else {
+    }
+    else if( dutyCycle < 0 ){
+        if( direction ){ /*逆転*/
+            currentSector--;
+            if(currentSector < 0){ 
+                currentSector = 5;
+            }
+            switch(currentSector) {
+                case 0:  
+                    GL_C = 0; GL_B = 0; GL_A = -dutyCycle; GH_C = 1; GH_B = 0; GH_A = 0;
+                    break;
+                case 1:                 
+                    GL_C = 0; GL_B = 0; GL_A = -dutyCycle; GH_C = 0; GH_B = 1; GH_A = 0;
+                    break;
+                case 2:
+                    GL_C = -dutyCycle; GL_B = 0; GL_A = 0; GH_C = 0; GH_B = 1; GH_A = 0;
+                    break;
+                case 3:
+                    GL_C = -dutyCycle; GL_B = 0; GL_A = 0; GH_C = 0; GH_B = 0; GH_A = 1;
+                    break;
+                case 4:
+                    GL_C = 0; GL_B = -dutyCycle; GL_A = 0; GH_C = 0; GH_B = 0; GH_A = 1;
+                    break;
+                case 5:
+                    GL_C = 0; GL_B = -dutyCycle; GL_A = 0; GH_C = 1; GH_B = 0; GH_A = 0;
+                    break;   
+             }
+        }
+        else if ( !direction ) {    //dutyがマイナスかつ進行方向が後退になっている場合
+            GL_C = -dutyCycle; GL_B = -dutyCycle; GL_A = -dutyCycle; GH_C = 0; GH_B = 0; GH_A = 0;  //回生動作する            
+        }
+    } 
+    else {
         coast();
     }
 }
@@ -190,21 +141,17 @@
         coast();
     }
 }
-/*void BLDCmotorDriver::adjustDutyCycle() {
-    dutyCycle = rl.out(tempDutyCycle);
-    float diff = tempDutyCycle - dutyCycle;
-    if (diff < 0.01 || diff > -0.01)
-        ticker.detach();
-}*/
+void BLDCmotorDriver::setDirection(float DS) {
+    if (!DS) {
+        direction = 0;
+    } else {
+        direction = 1;
+    }
+}
+
 void BLDCmotorDriver::coast() {
-    GH_A = 0;
-    GL_A = 0;
-    GH_B = 0;
-    GL_B = 0;
-    GH_C = 0;
-    GL_C = 0;
+    GH_A = 0; GL_A = 0; GH_B = 0; GL_B = 0; GH_C = 0; GL_C = 0;
     dutyCycle = tempDutyCycle = 0;
-    rl.reset();
     ticker.detach();
 }
 float BLDCmotorDriver::getDutyCycle() {
diff -r cf8183ae80ef -r 51643d078474 BLDCmotorDriver.h
--- a/BLDCmotorDriver.h	Fri Mar 13 01:07:30 2020 +0000
+++ b/BLDCmotorDriver.h	Fri Aug 21 08:29:01 2020 +0000
@@ -1,29 +1,37 @@
 #include "mbed.h"
-#include "RateLimiter.h"
 
 class BLDCmotorDriver {
     public:
         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 Fault);    
         void configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope);
         void setDutyCycle(float dutyCycle);
+        void setDirection(float direction); //方向決定スイッチ
         void coast();
         float getDutyCycle();
         int getSector();
         void ispis();
+        short HS_cnt;   //short(min:-32768 max: 32767)で充分   //intとかshortのサイズについて:https://os.mbed.com/users/mbed714/notebook/integer-types-int-long-and-long-long/
+        bool HS_check;  //0か1にしかならなkためboolで宣言
+        int HS_usec;
+        int rpm_a, rpm_b;  //ホールセンサカウンタ(速度計測用)
         
     private:
-        PwmOut GH_A, GH_B, GH_C;
-        DigitalOut GL_A, GL_B, GL_C; // Low-side gates are never PWM driven
+        PwmOut GL_A, GL_B, GL_C;       //←ハイサイド・ローサイドの変更
+        DigitalOut GH_A, GH_B, GH_C; // Low-side gates are never PWM driven
         InterruptIn H1; // InterruptIn can be used on all pins except p19 and p20
         InterruptIn H2; 
         InterruptIn H3;
-        RateLimiter rl;
+        Timer t;    //回転数用大麻
         Ticker ticker;
         float switchingPeriod, dutyCycle, tempDutyCycle, sampleTime;
+        int direction;
         void commutation();
-        int currentSector, _currentSector, previousSector, difference;
+        void H1rise();  //ホールセンサ1の立ち上がり時に飛ぶ関数(回転数計測用に使っている)
+        int currentSector, _currentSector;
         DigitalOut Fault;
         int h1, h2, h3;
+        
+        int n;
         //void adjustDutyCycle();
             
 };
\ No newline at end of file