Alvee Ahmed
/
Hobbyking_Cheetah_Compact_DRV8323_14bit
customizing code for Aliexpress 14 bit version with MA702
Diff: FOC/foc.cpp
- Revision:
- 31:61eb6ae28215
- Parent:
- 29:0dbc822dd29a
- Child:
- 32:ccac5da77844
--- a/FOC/foc.cpp Mon Jun 12 17:41:00 2017 +0000 +++ b/FOC/foc.cpp Wed Aug 30 15:28:40 2017 +0000 @@ -34,9 +34,9 @@ /// 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 + ((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); + *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); } @@ -92,11 +92,11 @@ 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); - float cogging_current = 0.05f*s*controller->i_q_ref; + //float cogging_current = 0.05f*s*controller->i_q_ref; /// 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; + 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 = controller->dtheta_elec*WB*1.73205081f; controller->d_int += i_d_error; @@ -105,9 +105,9 @@ //v_d_ff = 0; //v_q_ff = 0; - limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_Q*KI_Q)); // Limit integrators to prevent windup - controller->v_d = K_SCALE*I_BW*i_d_error + K_SCALE*I_BW*controller->d_int;// + v_d_ff; - controller->v_q = K_SCALE*I_BW*i_q_error + K_SCALE*I_BW*controller->q_int;// + v_q_ff; + limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_SCALE*I_BW*KI_Q)); // Limit integrators to prevent windup + controller->v_d = K_SCALE*I_BW*i_d_error + K_SCALE*I_BW*KI_D*controller->d_int;// + v_d_ff; + controller->v_q = K_SCALE*I_BW*i_q_error + K_SCALE*I_BW*KI_Q*controller->q_int;// + v_q_ff; //controller->v_q = 4.0f;; //controller->v_d = 0.0f; @@ -125,25 +125,25 @@ if(PHASE_ORDER){ // Check which phase order to use, - TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-controller->dtc_u); // Write duty cycles - TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-controller->dtc_v); - TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-controller->dtc_w); + 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)*(1.0f-controller->dtc_u); TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-controller->dtc_v); - TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-controller->dtc_w); + TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-controller->dtc_w); } controller->theta_elec = theta; //For some reason putting this at the front breaks thins - if(controller->loop_count >40){ + if(controller->loop_count >400){ //controller->i_q_ref = -controller->i_q_ref; controller->loop_count = 0; //printf("%.2f %.2f %.2f\n\r", controller->i_a, controller->i_b, controller->i_c); - //printf("%f\n\r", controller->theta_elec); + //printf("%f\n\r", controller->dtheta_mech*GR); //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); //pc.printf("%d %d\n\r", controller->adc1_raw, controller->adc2_raw);