Wooden Jin / BLDC_V2

bldc driver firmware based on hobbyking cheetah compact

Dependencies:   BLDC_V2 mbed-dev-f303 FastPWM3

Dependents:   BLDC_V2

FOC/foc.cpp@48:a74e401a6d84, 2021-04-07 (annotated)

Committer:
Wooden
Date:
Wed Apr 07 10:12:43 2021 +0000
Revision:
48:a74e401a6d84
Parent:
47:f4ecf3e0576a 
wooden_bldc_test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 37:c0f352d6e8e3 1
Wooden 48:a74e401a6d84 2 // He version
benkatz 22:60276ba87ac6 3 #include "foc.h"
benkatz 26:2b865c00d7e9 4 using namespace FastMath;
benkatz 22:60276ba87ac6 5
benkatz 22:60276ba87ac6 6
benkatz 22:60276ba87ac6 7 void abc( float theta, float d, float q, float *a, float *b, float *c){
benkatz 25:f5741040c4bb 8 /// Inverse DQ0 Transform ///
benkatz 22:60276ba87ac6 9 ///Phase current amplitude = lengh of dq vector///
benkatz 22:60276ba87ac6 10 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 37:c0f352d6e8e3 11 float cf = FastCos(theta);
benkatz 37:c0f352d6e8e3 12 float sf = FastSin(theta);
benkatz 37:c0f352d6e8e3 13
benkatz 37:c0f352d6e8e3 14 *a = cf*d - sf*q; // Faster Inverse DQ0 transform
benkatz 37:c0f352d6e8e3 15 *b = (0.86602540378f*sf-.5f*cf)*d - (-0.86602540378f*cf-.5f*sf)*q;
benkatz 37:c0f352d6e8e3 16 *c = (-0.86602540378f*sf-.5f*cf)*d - (0.86602540378f*cf-.5f*sf)*q;
benkatz 22:60276ba87ac6 17 }
benkatz 22:60276ba87ac6 18
benkatz 26:2b865c00d7e9 19
benkatz 22:60276ba87ac6 20 void dq0(float theta, float a, float b, float c, float *d, float *q){
benkatz 25:f5741040c4bb 21 /// DQ0 Transform ///
benkatz 22:60276ba87ac6 22 ///Phase current amplitude = lengh of dq vector///
benkatz 22:60276ba87ac6 23 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 22:60276ba87ac6 24
benkatz 37:c0f352d6e8e3 25 float cf = FastCos(theta);
benkatz 37:c0f352d6e8e3 26 float sf = FastSin(theta);
benkatz 26:2b865c00d7e9 27
benkatz 37:c0f352d6e8e3 28 *d = 0.6666667f*(cf*a + (0.86602540378f*sf-.5f*cf)*b + (-0.86602540378f*sf-.5f*cf)*c); ///Faster DQ0 Transform
benkatz 37:c0f352d6e8e3 29 *q = 0.6666667f*(-sf*a - (-0.86602540378f*cf-.5f*sf)*b - (0.86602540378f*cf-.5f*sf)*c);
benkatz 37:c0f352d6e8e3 30
benkatz 22:60276ba87ac6 31 }
benkatz 22:60276ba87ac6 32
benkatz 22:60276ba87ac6 33 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
benkatz 25:f5741040c4bb 34 /// Space Vector Modulation ///
benkatz 25:f5741040c4bb 35 /// u,v,w amplitude = v_bus for full modulation depth ///
benkatz 22:60276ba87ac6 36
benkatz 22:60276ba87ac6 37 float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f;
benkatz 31:61eb6ae28215 38 *dtc_u = fminf(fmaxf(((u -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 31:61eb6ae28215 39 *dtc_v = fminf(fmaxf(((v -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 31:61eb6ae28215 40 *dtc_w = fminf(fmaxf(((w -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 22:60276ba87ac6 41
benkatz 22:60276ba87ac6 42 }
benkatz 22:60276ba87ac6 43
benkatz 25:f5741040c4bb 44 void zero_current(int *offset_1, int *offset_2){ // Measure zero-offset of the current sensors
benkatz 22:60276ba87ac6 45 int adc1_offset = 0;
benkatz 22:60276ba87ac6 46 int adc2_offset = 0;
benkatz 22:60276ba87ac6 47 int n = 1024;
benkatz 25:f5741040c4bb 48 for (int i = 0; i<n; i++){ // Average n samples of the ADC
benkatz 27:501fee691e0e 49 TIM1->CCR3 = (PWM_ARR>>1)*(1.0f); // Write duty cycles
benkatz 27:501fee691e0e 50 TIM1->CCR2 = (PWM_ARR>>1)*(1.0f);
benkatz 27:501fee691e0e 51 TIM1->CCR1 = (PWM_ARR>>1)*(1.0f);
benkatz 26:2b865c00d7e9 52 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 53 wait(.001);
benkatz 22:60276ba87ac6 54 adc2_offset += ADC2->DR;
benkatz 22:60276ba87ac6 55 adc1_offset += ADC1->DR;
benkatz 22:60276ba87ac6 56 }
benkatz 22:60276ba87ac6 57 *offset_1 = adc1_offset/n;
benkatz 22:60276ba87ac6 58 *offset_2 = adc2_offset/n;
benkatz 22:60276ba87ac6 59 }
benkatz 22:60276ba87ac6 60
benkatz 22:60276ba87ac6 61 void reset_foc(ControllerStruct *controller){
benkatz 28:8c7e29f719c5 62 TIM1->CCR3 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 63 TIM1->CCR1 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 64 TIM1->CCR2 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 65 controller->i_d_ref = 0;
benkatz 28:8c7e29f719c5 66 controller->i_q_ref = 0;
benkatz 28:8c7e29f719c5 67 controller->i_d = 0;
benkatz 28:8c7e29f719c5 68 controller->i_q = 0;
benkatz 37:c0f352d6e8e3 69 controller->i_q_filt = 0;
benkatz 22:60276ba87ac6 70 controller->q_int = 0;
benkatz 22:60276ba87ac6 71 controller->d_int = 0;
benkatz 28:8c7e29f719c5 72 controller->v_q = 0;
benkatz 28:8c7e29f719c5 73 controller->v_d = 0;
benkatz 22:60276ba87ac6 74 }
benkatz 22:60276ba87ac6 75
benkatz 22:60276ba87ac6 76
benkatz 37:c0f352d6e8e3 77 void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta){
benkatz 37:c0f352d6e8e3 78 /// Observer Prediction ///
benkatz 37:c0f352d6e8e3 79 observer->i_d_est += DT*(observer->i_d_dot);
benkatz 37:c0f352d6e8e3 80 observer->i_q_est += DT*(observer->i_q_dot);
benkatz 37:c0f352d6e8e3 81
benkatz 25:f5741040c4bb 82 /// Commutation Loop ///
benkatz 25:f5741040c4bb 83 controller->loop_count ++;
benkatz 25:f5741040c4bb 84 if(PHASE_ORDER){ // Check current sensor ordering
Wooden 48:a74e401a6d84 85 //controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); // Calculate phase currents from ADC readings
Wooden 48:a74e401a6d84 86 //controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
Wooden 48:a74e401a6d84 87 controller->i_b = alpha * controller->i_b + (1.0f - alpha) * I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); // low pass filter, freq=1-alpha / dt
Wooden 48:a74e401a6d84 88 controller->i_c = alpha * controller->i_c + (1.0f - alpha) * I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
benkatz 22:60276ba87ac6 89 }
Wooden 48:a74e401a6d84 90 else{
Wooden 48:a74e401a6d84 91 // controller->i_b = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
Wooden 48:a74e401a6d84 92 // controller->i_c = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);
Wooden 48:a74e401a6d84 93 controller->i_b = alpha * controller->i_b + (1.0f - alpha) * I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
Wooden 48:a74e401a6d84 94 controller->i_c = alpha * controller->i_c + (1.0f - alpha) * I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);
benkatz 22:60276ba87ac6 95 }
benkatz 26:2b865c00d7e9 96 controller->i_a = -controller->i_b - controller->i_c;
benkatz 22:60276ba87ac6 97
benkatz 26:2b865c00d7e9 98 float s = FastSin(theta);
benkatz 26:2b865c00d7e9 99 float c = FastCos(theta);
benkatz 44:efcde0af8390 100 dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
benkatz 44:efcde0af8390 101 //controller->i_d = 0.6666667f*(c*controller->i_a + (0.86602540378f*s-.5f*c)*controller->i_b + (-0.86602540378f*s-.5f*c)*controller->i_c); ///Faster DQ0 Transform
benkatz 44:efcde0af8390 102 //controller->i_q = 0.6666667f*(-s*controller->i_a - (-0.86602540378f*c-.5f*s)*controller->i_b - (0.86602540378f*c-.5f*s)*controller->i_c);
benkatz 37:c0f352d6e8e3 103
Wooden 47:f4ecf3e0576a 104 // controller->i_q_filt = 0.95f*controller->i_q_filt + 0.05f*controller->i_q;
benkatz 37:c0f352d6e8e3 105 observer->i_d_m = controller->i_d;
benkatz 37:c0f352d6e8e3 106 observer->i_q_m = controller->i_q;
benkatz 37:c0f352d6e8e3 107
benkatz 37:c0f352d6e8e3 108 observer->e_d = observer->i_d_m - observer->i_d_est;
benkatz 37:c0f352d6e8e3 109 observer->e_q = observer->i_q_m - observer->i_q_est;
benkatz 37:c0f352d6e8e3 110 observer->e_d_int += observer->e_d;
benkatz 37:c0f352d6e8e3 111 observer->e_q_int += observer->e_q;
benkatz 37:c0f352d6e8e3 112
benkatz 37:c0f352d6e8e3 113 observer->i_d_est += K_O*observer->e_d + .001f*observer->e_d_int;
Wooden 47:f4ecf3e0576a 114 observer->i_q_est += K_O*observer->e_q + .001f*observer->e_q_int;
benkatz 37:c0f352d6e8e3 115
benkatz 38:67e4e1453a4b 116 float scog12 = FastSin(12.0f*theta);
benkatz 38:67e4e1453a4b 117 float scog1 = s;
benkatz 38:67e4e1453a4b 118 float cogging_current = 0.25f*scog1 - 0.3f*scog12;
benkatz 25:f5741040c4bb 119
benkatz 25:f5741040c4bb 120 /// PI Controller ///
Wooden 47:f4ecf3e0576a 121 // float i_d_error = controller->i_d_ref - controller->i_d;
Wooden 48:a74e401a6d84 122 float i_d_error = controller->i_d_ref - observer->i_d_est;
Wooden 48:a74e401a6d84 123 // float i_q_error = controller->i_q_ref - controller->i_q + cogging_current*0.6;
Wooden 48:a74e401a6d84 124 // float i_q_error = controller->i_q_ref - controller->i_q;
Wooden 48:a74e401a6d84 125 float i_q_error = controller->i_q_ref - observer->i_q_est;// + cogging_current;
Wooden 48:a74e401a6d84 126 // float i_q_error = controller->i_q_ref - observer->i_q_est;
benkatz 37:c0f352d6e8e3 127
Wooden 48:a74e401a6d84 128 float v_d_ff = (controller->i_d_ref*R_PHASE - controller->dtheta_elec*L_Q*controller->i_q_ref); //feed-forward voltages
Wooden 48:a74e401a6d84 129 float v_q_ff = (controller->i_q_ref*R_PHASE + controller->dtheta_elec*(L_D*controller->i_d_ref + WB));
benkatz 37:c0f352d6e8e3 130
benkatz 22:60276ba87ac6 131 controller->d_int += i_d_error;
benkatz 22:60276ba87ac6 132 controller->q_int += i_q_error;
benkatz 22:60276ba87ac6 133
benkatz 22:60276ba87ac6 134 //v_d_ff = 0;
benkatz 22:60276ba87ac6 135 //v_q_ff = 0;
benkatz 22:60276ba87ac6 136
Wooden 48:a74e401a6d84 137 // limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_SCALE*I_BW*KI_Q)); // Limit integrators to prevent windup
Wooden 48:a74e401a6d84 138 limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_SCALE*I_BW*KI_Q));
Wooden 48:a74e401a6d84 139 controller->v_d = K_SCALE*I_BW*i_d_error + K_SCALE*I_BW*KI_D*controller->d_int + v_d_ff;
Wooden 48:a74e401a6d84 140 controller->v_q = K_SCALE*I_BW*i_q_error + K_SCALE*I_BW*KI_Q*controller->q_int + v_q_ff;
Wooden 48:a74e401a6d84 141 //controller->v_d = kp_design * i_d_error + ki_design * DT * controller->d_int;
Wooden 48:a74e401a6d84 142 //controller->v_q = kp_design * i_q_error + ki_design * DT * controller->q_int;
benkatz 22:60276ba87ac6 143
Wooden 47:f4ecf3e0576a 144 // controller->v_q = 0.0f; // always zero
Wooden 47:f4ecf3e0576a 145 // controller->v_d = 0.0f;
benkatz 28:8c7e29f719c5 146
benkatz 22:60276ba87ac6 147 //controller->v_d = v_d_ff;
benkatz 22:60276ba87ac6 148 //controller->v_q = v_q_ff;
benkatz 22:60276ba87ac6 149
benkatz 44:efcde0af8390 150 limit_norm(&controller->v_d, &controller->v_q, OVERMODULATION*controller->v_bus); // Normalize voltage vector to lie within curcle of radius v_bus
benkatz 44:efcde0af8390 151 abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
benkatz 26:2b865c00d7e9 152
benkatz 44:efcde0af8390 153 //controller->v_u = c*controller->v_d - s*controller->v_q; // Faster Inverse DQ0 transform
benkatz 44:efcde0af8390 154 //controller->v_v = (0.86602540378f*s-.5f*c)*controller->v_d - (-0.86602540378f*c-.5f*s)*controller->v_q;
benkatz 44:efcde0af8390 155 //controller->v_w = (-0.86602540378f*s-.5f*c)*controller->v_d - (0.86602540378f*c-.5f*s)*controller->v_q;
benkatz 22:60276ba87ac6 156 svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
benkatz 22:60276ba87ac6 157
Wooden 48:a74e401a6d84 158 // observer->i_d_dot = 0.5f*(controller->v_d - 2.0f*(observer->i_d_est*R_PHASE - controller->dtheta_elec*L_Q*observer->i_q_est))/L_D; //feed-forward voltage
Wooden 48:a74e401a6d84 159 // observer->i_q_dot = 0.5f*(controller->v_q - 2.0f*(observer->i_q_est*R_PHASE + controller->dtheta_elec*(L_D*observer->i_d_est + WB)))/L_Q;
Wooden 48:a74e401a6d84 160 observer->i_d_dot = (controller->v_d - (observer->i_d_est*R_PHASE - controller->dtheta_elec*L_Q*observer->i_q_est))/L_D; //feed-forward voltage
Wooden 48:a74e401a6d84 161 observer->i_q_dot = (controller->v_q - (observer->i_q_est*R_PHASE + controller->dtheta_elec*(L_D*observer->i_d_est + WB)))/L_Q;
benkatz 22:60276ba87ac6 162
benkatz 25:f5741040c4bb 163 if(PHASE_ORDER){ // Check which phase order to use,
benkatz 31:61eb6ae28215 164 TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u); // Write duty cycles
benkatz 31:61eb6ae28215 165 TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_v);
benkatz 31:61eb6ae28215 166 TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_w);
benkatz 22:60276ba87ac6 167 }
benkatz 22:60276ba87ac6 168 else{
benkatz 32:ccac5da77844 169 TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u);
benkatz 32:ccac5da77844 170 TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_v);
benkatz 32:ccac5da77844 171 TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_w);
benkatz 22:60276ba87ac6 172 }
benkatz 25:f5741040c4bb 173
benkatz 25:f5741040c4bb 174 controller->theta_elec = theta; //For some reason putting this at the front breaks thins
benkatz 22:60276ba87ac6 175
benkatz 22:60276ba87ac6 176
benkatz 31:61eb6ae28215 177 if(controller->loop_count >400){
benkatz 22:60276ba87ac6 178 //controller->i_q_ref = -controller->i_q_ref;
benkatz 26:2b865c00d7e9 179 controller->loop_count = 0;
benkatz 22:60276ba87ac6 180
benkatz 28:8c7e29f719c5 181 //printf("%.2f %.2f %.2f\n\r", controller->i_a, controller->i_b, controller->i_c);
benkatz 31:61eb6ae28215 182 //printf("%f\n\r", controller->dtheta_mech*GR);
benkatz 22:60276ba87ac6 183 //pc.printf("%f %f %f\n\r", controller->i_a, controller->i_b, controller->i_c);
benkatz 22:60276ba87ac6 184 //pc.printf("%f %f\n\r", controller->i_d, controller->i_q);
benkatz 22:60276ba87ac6 185 //pc.printf("%d %d\n\r", controller->adc1_raw, controller->adc2_raw);
benkatz 26:2b865c00d7e9 186 }
benkatz 22:60276ba87ac6 187 }
benkatz 26:2b865c00d7e9 188
benkatz 26:2b865c00d7e9 189
benkatz 26:2b865c00d7e9 190 void torque_control(ControllerStruct *controller){
Wooden 48:a74e401a6d84 191 // controller->t_ff= 0.5f;
Wooden 48:a74e401a6d84 192 // controller->kd = 0.1f;
benkatz 28:8c7e29f719c5 193 float torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(controller->v_des - controller->dtheta_mech);
Wooden 48:a74e401a6d84 194 if(torque_ref>18.0f){
Wooden 48:a74e401a6d84 195 torque_ref = 18.0f;
Wooden 48:a74e401a6d84 196 }
Wooden 48:a74e401a6d84 197 else{
Wooden 48:a74e401a6d84 198 if(torque_ref <-18.0f){
Wooden 48:a74e401a6d84 199 torque_ref = -18.0f;
Wooden 48:a74e401a6d84 200 }
Wooden 48:a74e401a6d84 201 }
benkatz 26:2b865c00d7e9 202 //float torque_ref = -.1*(controller->p_des - controller->theta_mech);
Wooden 48:a74e401a6d84 203 controller->i_q_ref = torque_ref/KT_OUT;
Wooden 48:a74e401a6d84 204 // controller->i_q_ref = 1.0f;
benkatz 37:c0f352d6e8e3 205 controller->i_d_ref = 0.0f;
benkatz 26:2b865c00d7e9 206 }
benkatz 26:2b865c00d7e9 207
benkatz 26:2b865c00d7e9 208
benkatz 22:60276ba87ac6 209 /*
benkatz 22:60276ba87ac6 210 void zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){
benkatz 22:60276ba87ac6 211
benkatz 22:60276ba87ac6 212 }
Wooden 48:a74e401a6d84 213 */