Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: FOC/foc.cpp
- Revision:
- 55:c4c9fec8539c
- Parent:
- 53:e85efce8c1eb
- Child:
- 58:32e8927fe39f
diff -r 59575833d16f -r c4c9fec8539c FOC/foc.cpp --- a/FOC/foc.cpp Thu Aug 08 17:39:43 2019 +0000 +++ b/FOC/foc.cpp Fri Oct 04 14:18:39 2019 +0000 @@ -29,15 +29,21 @@ } -void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){ +void svm(float v_bus, float u, float v, float w, int i_sector, float *dtc_u, float *dtc_v, float *dtc_w){ /// Space Vector Modulation /// /// u,v,w amplitude = v_bus for full modulation depth /// float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))*0.5f; - *dtc_u = fminf(fmaxf(((u -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX); - *dtc_v = fminf(fmaxf(((v -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX); - *dtc_w = fminf(fmaxf(((w -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX); + // Dead-time compensation + float u_comp = DTC_COMP*(-(i_sector==4) + (i_sector==3)); + float v_comp = DTC_COMP*(-(i_sector==2) + (i_sector==5)); + float w_comp = DTC_COMP*((i_sector==6) - (i_sector==1)); + + + *dtc_u = fminf(fmaxf((.5f*(u -v_offset)/(v_bus*(DTC_MAX-DTC_MIN)) + (DTC_MAX+DTC_MIN)*.5f + u_comp), DTC_MIN), DTC_MAX); + *dtc_v = fminf(fmaxf((.5f*(v -v_offset)/(v_bus*(DTC_MAX-DTC_MIN)) + (DTC_MAX+DTC_MIN)*.5f + v_comp), DTC_MIN), DTC_MAX); + *dtc_w = fminf(fmaxf((.5f*(w -v_offset)/(v_bus*(DTC_MAX-DTC_MIN)) + (DTC_MAX+DTC_MIN)*.5f + w_comp), DTC_MIN), DTC_MAX); /* sinusoidal pwm @@ -49,19 +55,6 @@ } -void linearize_dtc(float *dtc){ - /// linearizes the output of the inverter, which is not linear for small duty cycles /// - float sgn = 1.0f-(2.0f*(dtc<0)); - if(abs(*dtc) >= .01f){ - *dtc = *dtc*.986f+.014f*sgn; - } - else{ - *dtc = 2.5f*(*dtc); - } - - } - - void zero_current(int *offset_1, int *offset_2){ // Measure zero-offset of the current sensors int adc1_offset = 0; int adc2_offset = 0; @@ -85,7 +78,10 @@ controller->k_d = K_SCALE*I_BW; controller->k_q = K_SCALE*I_BW; controller->alpha = 1.0f - 1.0f/(1.0f - DT*I_BW*2.0f*PI); - + for(int i = 0; i<128; i++) + { + controller->inverter_tab[i] = 1.0f + 1.2f*exp(-0.0078125f*i/.032f); + } } void reset_foc(ControllerStruct *controller){ @@ -101,12 +97,15 @@ controller->d_int = 0; controller->v_q = 0; controller->v_d = 0; + controller->otw_flag = 0; } void reset_observer(ObserverStruct *observer){ + observer->temperature = 25.0f; - observer->resistance = .1f; + observer->temp_measured = 25.0f; + //observer->resistance = .1f; } void limit_current_ref (ControllerStruct *controller){ @@ -115,26 +114,59 @@ controller->i_q_ref = fmaxf(fminf(i_q_max_limit, controller->i_q_ref), i_q_min_limit); } +void update_observer(ControllerStruct *controller, ObserverStruct *observer) +{ + /// Update observer estimates /// + // Resistance observer // + // Temperature Observer // + observer->delta_t = (float)observer->temperature - T_AMBIENT; + float i_sq = controller->i_d*controller->i_d + controller->i_q*controller->i_q; + observer->q_in = (R_NOMINAL*1.5f)*(1.0f + .00393f*observer->delta_t)*i_sq; + observer->q_out = observer->delta_t*R_TH; + observer->temperature += (INV_M_TH*DT)*(observer->q_in-observer->q_out); + + //float r_d = (controller->v_d*(DTC_MAX-DTC_MIN) + SQRT3*controller->dtheta_elec*(L_Q*controller->i_q))/(controller->i_d*SQRT3); + float r_q = (controller->v_q*(DTC_MAX-DTC_MIN) - SQRT3*controller->dtheta_elec*(L_D*controller->i_d + WB))/(controller->i_q*SQRT3); + observer->resistance = r_q;//(r_d*controller->i_d + r_q*controller->i_q)/(controller->i_d + controller->i_q); // voltages more accurate at higher duty cycles + + //observer->resistance = controller->v_q/controller->i_q; + if(isnan(observer->resistance) || isinf(observer->resistance)){observer->resistance = R_NOMINAL;} + float t_raw = ((T_AMBIENT + ((observer->resistance/R_NOMINAL) - 1.0f)*254.5f)); + if(t_raw > 200.0f){t_raw = 200.0f;} + else if(t_raw < 0.0f){t_raw = 0.0f;} + observer->temp_measured = .999f*observer->temp_measured + .001f*t_raw; + float e = (float)observer->temperature - observer->temp_measured; + observer->trust = (1.0f - .004f*fminf(abs(controller->dtheta_elec), 250.0f)) * (.01f*(fminf(i_sq, 100.0f))); + observer->temperature -= observer->trust*.0001f*e; + //printf("%.3f\n\r", e); + + if(observer->temperature > TEMP_MAX){controller->otw_flag = 1;} + else{controller->otw_flag = 0;} +} -void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta){ - - /// Update observer estimates /// - // Resistance observer // - // Temperature Observer // - float t_rise = (float)observer->temperature - 25.0f; - float q_th_in = (1.0f + .00393f*t_rise)*(controller->i_d*controller->i_d*R_PHASE*SQRT3 + controller->i_q*controller->i_q*R_PHASE*SQRT3); - float q_th_out = t_rise*R_TH; - observer->temperature += INV_M_TH*DT*(q_th_in-q_th_out); - - observer->resistance = (controller->v_q - SQRT3*controller->dtheta_elec*(WB))/controller->i_q; - //observer->resistance = controller->v_q/controller->i_q; - if(isnan(observer->resistance)){observer->resistance = R_PHASE;} - observer->temperature2 = (double)(25.0f + ((observer->resistance*6.0606f)-1.0f)*275.5f); - double e = observer->temperature - observer->temperature2; - observer->temperature -= .001*e; - //printf("%.3f\n\r", e); - +float linearize_dtc(ControllerStruct *controller, float dtc) +{ + float duty = fmaxf(fminf(abs(dtc), .999f), 0.0f);; + int index = (int) (duty*127.0f); + float val1 = controller->inverter_tab[index]; + float val2 = controller->inverter_tab[index+1]; + return val1 + (val2 - val1)*(duty*128.0f - (float)index); +} +void field_weaken(ControllerStruct *controller) +{ + /// Field Weakening /// + + controller->fw_int += .001f*(0.5f*OVERMODULATION*controller->v_bus - controller->v_ref); + controller->fw_int = fmaxf(fminf(controller->fw_int, 0.0f), -I_FW_MAX); + controller->i_d_ref = controller->fw_int; + float q_max = sqrt(controller->i_max*controller->i_max - controller->i_d_ref*controller->i_d_ref); + controller->i_q_ref = fmaxf(fminf(controller->i_q_ref, q_max), -q_max); + //float i_cmd_mag_sq = controller->i_d_ref*controller->i_d_ref + controller->i_q_ref*controller->i_q_ref; + +} +void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta) +{ /// Commutation Loop /// controller->loop_count ++; if(PHASE_ORDER){ // Check current sensor ordering @@ -146,6 +178,7 @@ controller->i_c = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); } controller->i_a = -controller->i_b - controller->i_c; + if((abs(controller->i_b) > 41.0f)|(abs(controller->i_c) > 41.0f)|(abs(controller->i_a) > 41.0f)){controller->oc_flag = 1;} float s = FastSin(theta); float c = FastCos(theta); @@ -158,27 +191,31 @@ // Filter the current references to the desired closed-loop bandwidth - controller->i_d_ref_filt = (1.0f-controller->alpha)*controller->i_d_ref_filt + controller->alpha*controller->i_d_ref; - controller->i_q_ref_filt = (1.0f-controller->alpha)*controller->i_q_ref_filt + controller->alpha*controller->i_q_ref; + //controller->i_d_ref_filt = (1.0f-controller->alpha)*controller->i_d_ref_filt + controller->alpha*controller->i_d_ref; + //controller->i_q_ref_filt = (1.0f-controller->alpha)*controller->i_q_ref_filt + controller->alpha*controller->i_q_ref; + + controller->i_max = I_MAX*(!controller->otw_flag) + I_MAX_CONT*controller->otw_flag; + + // Temperature Controller // + /* + if(observer->temperature > TEMP_MAX) + { + float qdot_des = 1.0f*(TEMP_MAX - observer->temperature); + float i_limit = sqrt((qdot_des + observer->q_out)/(R_NOMINAL*1.5f)); + controller->i_max = fmaxf(fminf(i_limit, I_MAX), I_MAX_CONT); + } + else{controller->i_max = I_MAX;} + */ + + limit_norm(&controller->i_d_ref, &controller->i_q_ref, controller->i_max); - - /// Field Weakening /// - - controller->fw_int += .001f*(0.5f*OVERMODULATION*controller->v_bus - controller->v_ref); - controller->fw_int = fmaxf(fminf(controller->fw_int, 0.0f), -I_FW_MAX); - controller->i_d_ref = controller->fw_int; - //float i_cmd_mag_sq = controller->i_d_ref*controller->i_d_ref + controller->i_q_ref*controller->i_q_ref; - limit_norm(&controller->i_d_ref, &controller->i_q_ref, I_MAX); - - - /// PI Controller /// float i_d_error = controller->i_d_ref - controller->i_d; float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current; // Calculate feed-forward voltages // - float v_d_ff = SQRT3*(1.0f*controller->i_d_ref*R_PHASE - controller->dtheta_elec*L_Q*controller->i_q); //feed-forward voltages - float v_q_ff = SQRT3*(1.0f*controller->i_q_ref*R_PHASE + controller->dtheta_elec*(L_D*controller->i_d + 1.0f*WB)); + float v_d_ff = SQRT3*(0.0f*controller->i_d_ref*R_PHASE - controller->dtheta_elec*L_Q*controller->i_q); //feed-forward voltages + float v_q_ff = SQRT3*(0.0f*controller->i_q_ref*R_PHASE + controller->dtheta_elec*(L_D*controller->i_d + 0.0f*WB)); // Integrate Error // controller->d_int += controller->k_d*controller->ki_d*i_d_error; @@ -188,20 +225,28 @@ controller->q_int = fmaxf(fminf(controller->q_int, OVERMODULATION*controller->v_bus), - OVERMODULATION*controller->v_bus); //limit_norm(&controller->d_int, &controller->q_int, OVERMODULATION*controller->v_bus); - controller->v_d = controller->k_d*i_d_error + controller->d_int ;//+ v_d_ff; - controller->v_q = controller->k_q*i_q_error + controller->q_int ;//+ v_q_ff; - + controller->v_d = controller->k_d*i_d_error + controller->d_int;// + v_d_ff; + controller->v_q = controller->k_q*i_q_error + controller->q_int;// + v_q_ff; + //controller->v_q = 0.0f; + //controller->v_d = 1.0f*controller->v_bus; controller->v_ref = sqrt(controller->v_d*controller->v_d + controller->v_q*controller->v_q); limit_norm(&controller->v_d, &controller->v_q, OVERMODULATION*controller->v_bus); // Normalize voltage vector to lie within curcle of radius v_bus - //float dtc_d = controller->v_d/controller->v_bus; + float dtc = controller->v_ref/controller->v_bus; + float scale = linearize_dtc(controller, dtc); + //controller->v_d = scale*controller->v_d; + //controller->v_q = scale*controller->v_q; //float dtc_q = controller->v_q/controller->v_bus; - //linearize_dtc(&dtc_d); + //linearize_dtc(&dtc_q); //controller->v_d = dtc_d*controller->v_bus; //controller->v_q = dtc_q*controller->v_bus; - abc(controller->theta_elec + 0.0f*DT*controller->dtheta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages - 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 + abc(controller->theta_elec + 0.0f*DT*controller->dtheta_elec, scale*controller->v_d, scale*controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages + controller->current_sector = ((controller->i_a>0)<<2)|((controller->i_b>0)<<1)|(controller->i_c>0); + svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, controller->current_sector, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation + + + if(PHASE_ORDER){ // Check which phase order to use, TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u); // Write duty cycles