Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: FOC/foc.cpp
- Revision:
- 23:2adf23ee0305
- Parent:
- 22:60276ba87ac6
- Child:
- 24:58c2d7571207
diff -r 60276ba87ac6 -r 2adf23ee0305 FOC/foc.cpp --- a/FOC/foc.cpp Fri Mar 31 18:24:46 2017 +0000 +++ b/FOC/foc.cpp Wed Apr 05 20:54:16 2017 +0000 @@ -26,9 +26,9 @@ ///u,v,w amplitude = v_bus for full modulation depth/// float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f; - *dtc_u = fminf(fmaxf(((u - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX); - *dtc_v = fminf(fmaxf(((v - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX); - *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX); + *dtc_u = fminf(fmaxf(((u - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX); + *dtc_v = fminf(fmaxf(((v - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX); + *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX); } @@ -68,9 +68,13 @@ dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents + ///Cogging Compensation Lookup/// + //int ind = theta * (128.0f/(2.0f*PI)); + //float cogging_current = controller->cogging[ind]; + //float cogging_current = 1.0f*cos(6*theta); ///Controller/// float i_d_error = controller->i_d_ref - controller->i_d; - float i_q_error = controller->i_q_ref - controller->i_q; + float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current; float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE); //feed-forward voltage float v_q_ff = 2.0f*(2*controller->i_q_ref*R_PHASE + controller->dtheta_elec*WB*0.8165f); controller->d_int += i_d_error; @@ -118,11 +122,11 @@ controller->theta_elec = theta; //For some reason putting this at the front breaks thins - if(controller->loop_count >1000){ + if(controller->loop_count >400){ //controller->i_q_ref = -controller->i_q_ref; controller->loop_count = 0; - //printf("%f\n\r", controller->dtheta_elec); + //printf("%d %f\n\r", ind, cogging_current); //printf("%f\n\r", controller->theta_elec); //pc.printf("%f %f %f\n\r", controller->i_a, controller->i_b, controller->i_c); //pc.printf("%f %f\n\r", controller->i_d, controller->i_q);