Alvee Ahmed
/
Hobbyking_Cheetah_Compact_DRV8323_14bit
customizing code for Aliexpress 14 bit version with MA702
Diff: FOC/foc.cpp
- Revision:
- 46:2d4b1dafcfe3
- Parent:
- 45:26801179208e
- Child:
- 47:e1196a851f76
--- a/FOC/foc.cpp Wed Jun 27 03:44:44 2018 +0000 +++ b/FOC/foc.cpp Thu Jul 12 02:50:34 2018 +0000 @@ -142,19 +142,19 @@ float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current; // Calculate feed-forward voltages // - float v_d_ff = 2.0f*(controller->i_d_ref*R_PHASE + L_D*controller->did_dt - controller->dtheta_elec*L_Q*controller->i_q_ref); //feed-forward voltages - float v_q_ff = 2.0f*(controller->i_q_ref*R_PHASE + L_Q*controller->diq_dt + controller->dtheta_elec*(L_D*controller->i_d_ref + WB)); + float v_d_ff = 2.0f*(0.0f*controller->i_d_ref*R_PHASE + 0.0f*L_D*controller->did_dt - controller->dtheta_elec*L_Q*controller->i_q); //feed-forward voltages + float v_q_ff = 2.0f*(0.0f*controller->i_q_ref*R_PHASE + 0.0f*L_Q*controller->diq_dt + controller->dtheta_elec*(L_D*controller->i_d + 0.0f*WB)); // Integrate Error // controller->d_int += i_d_error; controller->q_int += i_q_error; limit_norm(&controller->d_int, &controller->q_int, V_BUS/(controller->k_q*controller->ki_q)); - controller->v_d = controller->k_d*(i_d_error + controller->ki_d*controller->d_int);// + v_d_ff; - controller->v_q = controller->k_q*(i_q_error + controller->ki_q*controller->q_int);// + v_q_ff; + controller->v_d = controller->k_d*(i_d_error + controller->ki_d*controller->d_int) + v_d_ff; + controller->v_q = controller->k_q*(i_q_error + controller->ki_q*controller->q_int) + v_q_ff; limit_norm(&controller->v_d, &controller->v_q, OVERMODULATION*controller->v_bus); // Normalize voltage vector to lie within curcle of radius v_bus - abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages + abc(controller->theta_elec + 0.5f*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 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 @@ -184,7 +184,7 @@ //printf("%.2f %.2f %.2f\n\r", controller->i_a, controller->i_b, controller->i_c); //printf("%f\n\r", controller->dtheta_mech*GR); //pc.printf("%f %f %f\n\r", controller->i_a, controller->i_b, controller->i_c); - //printf("%f %f\n\r", controller->k_d, controller->k_q); + printf("%f %f\n\r", v_q_ff, v_d_ff); //pc.printf("%d %d\n\r", controller->adc1_raw, controller->adc2_raw); } }