foc.cpp

00001 
00002 #include "foc.h"
00003 
00004 //#include "FastMath.h"
00005 //using namespace FastMath;
00006 
00007 
00008 void abc( float theta, float d, float q, float *a, float *b, float *c){
00009     ///Phase current amplitude = lengh of dq vector///
00010     ///i.e. iq = 1, id = 0, peak phase current of 1///
00011 
00012     *a = d*cosf(theta) + q*sinf(theta);
00013     *b = d*cosf((2.0f*PI/3.0f)+theta) + q*sinf((2.0f*PI/3.0f)+theta);
00014     *c = d*cosf((-2.0f*PI/3.0f)+theta) + q*sinf((-2.0f*PI/3.0f)+theta);
00015     }
00016     
00017 void dq0(float theta, float a, float b, float c, float *d, float *q){
00018     ///Phase current amplitude = lengh of dq vector///
00019     ///i.e. iq = 1, id = 0, peak phase current of 1///
00020     
00021     *d = (2.0f/3.0f)*(a*cosf(theta) + b*cosf((2.0f*PI/3.0f)+theta) + c*cosf((-2.0f*PI/3.0f)+theta));
00022     *q = (2.0f/3.0f)*(a*sinf(theta) + b*sinf((2.0f*PI/3.0f)+theta) + c*sinf((-2.0f*PI/3.0f)+theta));
00023     }
00024     
00025 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
00026     ///u,v,w amplitude = v_bus for full modulation depth///
00027     
00028     float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f;
00029     *dtc_u = fminf(fmaxf(((u - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);
00030     *dtc_v = fminf(fmaxf(((v - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);
00031     *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);
00032     
00033     }
00034 
00035 void zero_current(int *offset_1, int *offset_2){
00036     int adc1_offset = 0;
00037     int adc2_offset = 0;
00038     int n = 1024;
00039     for (int i = 0; i<n; i++){
00040         ADC1->CR2  |= 0x40000000; 
00041         wait(.001);
00042         adc2_offset += ADC2->DR;
00043         adc1_offset += ADC1->DR;
00044         }
00045     *offset_1 = adc1_offset/n;
00046     *offset_2 = adc2_offset/n;
00047     }
00048 
00049 void reset_foc(ControllerStruct *controller){
00050     controller->q_int = 0;
00051     controller->d_int = 0;
00052     }
00053 
00054 
00055 void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta){
00056        
00057        controller->loop_count ++;
00058        if(gpio->phasing){
00059            controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);    //Calculate phase currents from ADC readings
00060            controller->i_a = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
00061            }
00062         else{
00063            controller->i_b = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);    //Calculate phase currents from ADC readings
00064            controller->i_a = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);
00065            }
00066        controller->i_c = -controller->i_b - controller->i_a;
00067        
00068        
00069        dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q);    //dq0 transform on currents
00070        
00071        ///Cogging Compensation Lookup///
00072        //int ind = theta * (128.0f/(2.0f*PI));
00073        //float cogging_current = controller->cogging[ind];
00074        //float cogging_current = 1.0f*cos(6*theta);
00075        ///Controller///
00076        float i_d_error = controller->i_d_ref - controller->i_d;
00077        float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current;
00078        //float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE);   //feed-forward voltage
00079        //float v_q_ff = 2.0f*(2*controller->i_q_ref*R_PHASE + controller->dtheta_elec*WB*0.8165f);
00080        controller->d_int += i_d_error;   
00081        controller->q_int += i_q_error;
00082        
00083        //v_d_ff = 0;
00084        //v_q_ff = 0;
00085        
00086        limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_Q*KI_Q));
00087        //controller->d_int = fminf(fmaxf(controller->d_int, -D_INT_LIM), D_INT_LIM);
00088        //controller->q_int = fminf(fmaxf(controller->q_int, -Q_INT_LIM), Q_INT_LIM);
00089        
00090        
00091        controller->v_d = K_D*i_d_error + K_D*KI_D*controller->d_int;// + v_d_ff;  
00092        controller->v_q = K_Q*i_q_error + K_Q*KI_Q*controller->q_int;// + v_q_ff; 
00093        
00094        //controller->v_d = v_d_ff;
00095        //controller->v_q = v_q_ff; 
00096        
00097        limit_norm(&controller->v_d, &controller->v_q, controller->v_bus);
00098        
00099        abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
00100        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
00101 
00102        //gpio->pwm_u->write(1.0f-controller->dtc_u);  //write duty cycles
00103        //gpio->pwm_v->write(1.0f-controller->dtc_v);
00104        //gpio->pwm_w->write(1.0f-controller->dtc_w);  
00105        
00106        //bing1 = (controller->dtc_u);
00107        //bing2 = (controller->dtc_v);
00108        //bing3 = (controller->dtc_w); 
00109        /*
00110        //if(gpio->phasing){
00111             TIM1->CCR1 = 0x1194*(1.0f-controller->dtc_u);
00112             TIM1->CCR2 = 0x1194*(1.0f-controller->dtc_v);
00113             TIM1->CCR3 = 0x1194*(1.0f-controller->dtc_w); 
00114         }
00115         else{
00116             TIM1->CCR3 = 0x1194*(1.0f-controller->dtc_u);
00117             TIM1->CCR1 = 0x1194*(1.0f-controller->dtc_v);
00118             TIM1->CCR2 = 0x1194*(1.0f-controller->dtc_w);
00119         }*/
00120        //gpio->pwm_u->write(1.0f - .05f);  //write duty cycles
00121         //gpio->pwm_v->write(1.0f - .05f);
00122         //gpio->pwm_w->write(1.0f - .1f);
00123        //TIM1->CCR1 = 0x708*(1.0f-controller->dtc_u);
00124         //TIM1->CCR2 = 0x708*(1.0f-controller->dtc_v);
00125         //TIM1->CCR3 = 0x708*(1.0f-controller->dtc_w);
00126        controller->theta_elec = theta;   //For some reason putting this at the front breaks thins
00127        
00128 
00129        if(controller->loop_count >400){
00130            //controller->i_q_ref = -controller->i_q_ref;
00131            controller->loop_count  = 0;
00132            
00133            //printf("%d   %f\n\r", ind, cogging_current);
00134            //printf("%f\n\r", controller->theta_elec);
00135            //pc.printf("%f    %f    %f\n\r", controller->i_a, controller->i_b, controller->i_c);
00136            //pc.printf("%f    %f\n\r", controller->i_d, controller->i_q);
00137            //pc.printf("%d    %d\n\r", controller->adc1_raw, controller->adc2_raw);
00138             }
00139     }
00140     
00141 /*    
00142 void zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){
00143     
00144     }
00145 */    
00146 
00147 void voltageabc( float theta, float d, float q, float *a, float *b, float *c){
00148     ///Phase current amplitude = lengh of dq vector///
00149     ///i.e. iq = 1, id = 0, peak phase current of 1///
00150 
00151     *a = sinf(theta);
00152     *b = sinf((2.0f*PI/3.0f)+theta);
00153     *c = sinf((-2.0f*PI/3.0f)+theta);
00154     }
00155        
00156        
00157        
00158        
00159        
00160     
00161