Aditya Mehrotra
Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Revision 49:83d83040ea51, committed 2019-04-04
- Comitter:
- benkatz
- Date:
- Thu Apr 04 13:50:02 2019 +0000
- Parent:
- 48:74a40481740c
- Child:
- 50:ba72df25d10f
- Commit message:
- testing_commit;
Changed in this revision
--- a/Config/current_controller_config.h Sun Mar 03 02:51:51 2019 +0000 +++ b/Config/current_controller_config.h Thu Apr 04 13:50:02 2019 +0000 @@ -14,7 +14,7 @@ #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples #define I_MAX 40.0f // Max Current -#define I_MAX_FW 0.0f // Max field weakening current +#define I_MAX_FW 10.0f // Max field weakening current #define I_MAX_CONT 15.0f // Max continuous current, for thermal limiting //Observer//
--- a/FOC/foc.cpp Sun Mar 03 02:51:51 2019 +0000
+++ b/FOC/foc.cpp Thu Apr 04 13:50:02 2019 +0000
@@ -122,12 +122,12 @@
// 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*1.5f + controller->i_q*controller->i_q*R_PHASE*1.5f);
+ 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 - 2.0f*controller->dtheta_elec*(WB + L_D*controller->i_d))/controller->i_q;
- observer->resistance = controller->v_q/controller->i_q;
+ 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;
@@ -157,7 +157,7 @@
controller->i_d_filt = 0.95f*controller->i_d_filt + 0.05f*controller->i_d;
- // Filter the current references to the desired closed-loopbandwidth
+ // 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;
--- a/main.cpp Sun Mar 03 02:51:51 2019 +0000
+++ b/main.cpp Thu Apr 04 13:50:02 2019 +0000
@@ -134,7 +134,7 @@
reset_foc(&controller); // Tesets integrators, and other control loop parameters
wait(.001);
controller.i_d_ref = 0;
- controller.i_q_ref = 0; // Current Setpoints
+ controller.i_q_ref = 40; // Current Setpoints
gpio.led->write(1); // Turn on status LED
state_change = 0;
printf("\n\r Entering Motor Mode \n\r");
@@ -220,62 +220,19 @@
controller.kd = 0;
controller.t_ff = 0;
}
- //controller.i_q_ref = 0.0f;
- //controller.i_d_ref = 0.0f;
-
- //controller.i_q_ref = 2.0f;
- //controller.i_d_ref = -30.0f;
- //controller.kp = 1;
- //controller.kd = .1f;
- //controller.v_des = 25;
- //torque_control(&controller);
- controller.i_q_ref = 40.0f;
- //
- //controller.i_q_ref += .00025f;
- //if(count>80000)
- //{
- // controller.i_q_ref = 0.0f;
- // count = 0;
- // }
- //controller.i_d_ref = -10.0f;
- commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
- //TIM1->CCR3 = (PWM_ARR)*(0.5f); // Write duty cycles
- //TIM1->CCR2 = (PWM_ARR)*(0.5f);
- //TIM1->CCR1 = (PWM_ARR)*(0.5f);
- controller.timeout++;
- //pc.putc(iq);
- //pc.putc(id);
- //pc.putc(ang);
- //pc.printf("\n\r");
-
-
- count++;
-
- /*
- if(count == 10000){
- //printf("%d %d %.4f %.4f %.4f\n\r", controller.adc1_raw, controller.adc2_raw, controller.i_a, controller.i_b, controller.i_c);
- //printf("%.2f\n\r", 1000.0f*controller.h1_iq_afc_int1);
- //pc.putc(id);
- //pc.putc(iq);
- //pc.putc(ang);
- //pc.putc('\n');
- //pc.putc('\r');
- //printf("%.1f\n", controller.k_q*controller.ki_q*controller.q_int);
- if(controller.i_d_ref< 10.0f)
- {
- controller.i_d_ref += .05f;
- }
- else{controller.i_d_ref = 0;}
-
- count = 0;
- }
- */
-
-
-
-
-
+ //torque_control(&controller);
+ //controller.i_q_ref = 20.0f;
+ if(count > 40000)
+ {
+ count = 0;
+ controller.i_q_ref = -controller.i_q_ref;
+ }
+
+ commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
+
+ controller.timeout++;
+ count++;
}
break;
@@ -394,6 +351,13 @@
break;
}
}
+ else if (state == MOTOR_MODE){
+ switch (c){
+ case 'd':
+ controller.i_q_ref = 0;
+ controller.i_d_ref = 0;
+ }
+ }
}
}
@@ -412,7 +376,7 @@
wait_us(100);
drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
wait_us(100);
- drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_4US, VDS_LVL_1_5);
+ drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
//drv.enable_gd();
zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
@@ -503,9 +467,9 @@
if(state == MOTOR_MODE)
{
//printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
- //printf("%.3f %.3f %.3f\n\r", controller.v_q/controller.v_bus, controller.i_q, observer.resistance);
- printf("%.3f\n\r", controller.dtheta_mech);
- wait(.001);
+ //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
+ //printf("%.3f\n\r", controller.dtheta_mech);
+ wait(.002);
}
}