Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
FOC/foc.cpp
- Committer:
- elijahsj
- Date:
- 2021-02-10
- Revision:
- 69:ba1c89835a54
- Parent:
- 58:32e8927fe39f
- Child:
- 70:2ea6c555a2cb
File content as of revision 69:ba1c89835a54:
#include "foc.h" using namespace FastMath; void abc( float theta, float d, float q, float *a, float *b, float *c){ /// Inverse DQ0 Transform /// ///Phase current amplitude = lengh of dq vector/// ///i.e. iq = 1, id = 0, peak phase current of 1/// float cf = FastCos(theta); float sf = FastSin(theta); *a = cf*d - sf*q; // Faster Inverse DQ0 transform *b = (0.86602540378f*sf-.5f*cf)*d - (-0.86602540378f*cf-.5f*sf)*q; *c = (-0.86602540378f*sf-.5f*cf)*d - (0.86602540378f*cf-.5f*sf)*q; } void dq0(float theta, float a, float b, float c, float *d, float *q){ /// DQ0 Transform /// ///Phase current amplitude = lengh of dq vector/// ///i.e. iq = 1, id = 0, peak phase current of 1/// float cf = FastCos(theta); float sf = FastSin(theta); *d = 0.6666667f*(cf*a + (0.86602540378f*sf-.5f*cf)*b + (-0.86602540378f*sf-.5f*cf)*c); ///Faster DQ0 Transform *q = 0.6666667f*(-sf*a - (-0.86602540378f*cf-.5f*sf)*b - (0.86602540378f*cf-.5f*sf)*c); } 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; // 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 *dtc_u = fminf(fmaxf((u/v_bus + .5f), DTC_MIN), DTC_MAX); *dtc_v = fminf(fmaxf((v/v_bus + .5f), DTC_MIN), DTC_MAX); *dtc_w = fminf(fmaxf((w/v_bus + .5f), DTC_MIN), DTC_MAX); */ } void zero_current(int *offset_1, int *offset_2){ // Measure zero-offset of the current sensors int adc1_offset = 0; int adc2_offset = 0; int n = 1024; for (int i = 0; i<n; i++){ // Average n samples of the ADC TIM1->CCR3 = (PWM_ARR>>1)*(1.0f); // Write duty cycles TIM1->CCR2 = (PWM_ARR>>1)*(1.0f); TIM1->CCR1 = (PWM_ARR>>1)*(1.0f); ADC1->CR2 |= 0x40000000; // Begin sample and conversion wait(.001); adc2_offset += ADC2->DR; adc1_offset += ADC1->DR; } *offset_1 = adc1_offset/n; *offset_2 = adc2_offset/n; } void init_controller_params(ControllerStruct *controller){ controller->ki_d = KI_D; controller->ki_q = KI_Q; 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){ TIM1->CCR3 = (PWM_ARR>>1)*(0.5f); TIM1->CCR1 = (PWM_ARR>>1)*(0.5f); TIM1->CCR2 = (PWM_ARR>>1)*(0.5f); controller->i_d_ref = 0; controller->i_q_ref = 0; controller->i_d = 0; controller->i_q = 0; controller->i_q_filt = 0; controller->q_int = 0; controller->d_int = 0; controller->v_q = 0; controller->v_d = 0; controller->otw_flag = 0; controller->velocity_sum = 0; } void reset_observer(ObserverStruct *observer){ observer->temperature = 25.0f; observer->temp_measured = 25.0f; //observer->resistance = .1f; } void limit_current_ref (ControllerStruct *controller){ float i_q_max_limit = (0.5774f*controller->v_bus - controller->dtheta_elec*WB)/R_PHASE; float i_q_min_limit = (-0.5774f*controller->v_bus - controller->dtheta_elec*WB)/R_PHASE; 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;} } 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 controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); // Calculate phase currents from ADC readings controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset); } else{ controller->i_b = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset); 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); dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents //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 //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); controller->i_q_filt = 0.95f*controller->i_q_filt + 0.05f*controller->i_q; controller->i_d_filt = 0.95f*controller->i_d_filt + 0.05f*controller->i_d; // 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_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); /// 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*(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; controller->q_int += controller->k_q*controller->ki_q*i_q_error; controller->d_int = fmaxf(fminf(controller->d_int, OVERMODULATION*controller->v_bus), - OVERMODULATION*controller->v_bus); 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_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 = 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_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, 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 TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_v); TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_w); } else{ TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u); TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_v); TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_w); } controller->theta_elec = theta; } void torque_control(ControllerStruct *controller){ float windup = 34.0; controller->velocity_sum += controller->kd/100*(controller->v_des - controller->dtheta_mech); controller->velocity_sum = fmaxf(fminf(controller->velocity_sum, windup), -windup); //float torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(controller->v_des - controller->dtheta_mech); float torque_ref = controller->kp*(controller->v_des - controller->dtheta_mech) + controller->velocity_sum + controller->t_ff; //float torque_ref = -.1*(controller->p_des - controller->theta_mech); controller->i_q_ref = torque_ref/KT_OUT; controller->i_d_ref = 0.0f; }