Alvee Ahmed
/
Hobbyking_Cheetah_Compact_DRV8323_14bit
customizing code for Aliexpress 14 bit version with MA702
FOC/foc.cpp
- Committer:
- benkatz
- Date:
- 2017-06-12
- Revision:
- 29:0dbc822dd29a
- Parent:
- 28:8c7e29f719c5
- Child:
- 30:db9081ac5658
- Child:
- 31:61eb6ae28215
File content as of revision 29:0dbc822dd29a:
#include "user_config.h" #include "hw_config.h" #include "foc.h" #include "FastMath.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/// *a = d*cosf(theta) - q*sinf(theta); *b = d*cosf(theta - (2.0f*PI/3.0f)) - q*sinf(theta - (2.0f*PI/3.0f)); *c = d*cosf(theta + (2.0f*PI/3.0f)) - q*sinf(theta +(2.0f*PI/3.0f)); } 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 cos = cosf(theta); //float sin = sinf(theta); *d = (2.0f/3.0f)*(a*cosf(theta) + b*cosf(theta - (2.0f*PI/3.0f)) + c*cosf(theta + (2.0f*PI/3.0f))); *q = (2.0f/3.0f)*(-a*sinf(theta) - b*sinf(theta - (2.0f*PI/3.0f)) - c*sinf(theta + (2.0f*PI/3.0f))); } void svm(float v_bus, float u, float v, float w, 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))/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); } 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 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->q_int = 0; controller->d_int = 0; controller->v_q = 0; controller->v_d = 0; } void commutate(ControllerStruct *controller, 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; 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); 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 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; controller->q_int += i_q_error; //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; //controller->v_q = 4.0f;; //controller->v_d = 0.0f; //controller->v_d = v_d_ff; //controller->v_q = v_q_ff; limit_norm(&controller->v_d, &controller->v_q, 1.2f*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 controller->v_u = c*controller->v_d - s*controller->v_q; // Faster Inverse DQ0 transform controller->v_v = (0.86602540378f*s-.5f*c)*controller->v_d - (-0.86602540378f*c-.5f*s)*controller->v_q; controller->v_w = (-0.86602540378f*s-.5f*c)*controller->v_d - (0.86602540378f*c-.5f*s)*controller->v_q; 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 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); } 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); } controller->theta_elec = theta; //For some reason putting this at the front breaks thins if(controller->loop_count >40){ //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); //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); } } void torque_control(ControllerStruct *controller){ 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 = -.1*(controller->p_des - controller->theta_mech); controller->i_q_ref = torque_ref/KT_OUT; controller->i_d_ref = 0; } /* void zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){ } */