Austin Brown
Inductance Testing Code
Fork of
CurrentModeSine
by 
Austin Brown
Diff: FOC/foc.cpp
- Revision:
- 1:64b881306f6f
- Parent:
- 0:9edd6ec0f56a
diff -r 9edd6ec0f56a -r 64b881306f6f FOC/foc.cpp
--- a/FOC/foc.cpp Sat May 20 21:42:20 2017 +0000
+++ b/FOC/foc.cpp Thu Oct 11 04:13:45 2018 +0000
@@ -1,158 +1,118 @@
#include "foc.h"
-//#include "FastMath.h"
//using namespace FastMath;
-
-
-void abc( float theta, float d, float q, float *a, float *b, float *c){
- ///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((2.0f*PI/3.0f)+theta) + q*sinf((2.0f*PI/3.0f)+theta);
- *c = d*cosf((-2.0f*PI/3.0f)+theta) + q*sinf((-2.0f*PI/3.0f)+theta);
- }
-
-void dq0(float theta, float a, float b, float c, float *d, float *q){
- ///Phase current amplitude = lengh of dq vector///
- ///i.e. iq = 1, id = 0, peak phase current of 1///
-
- *d = (2.0f/3.0f)*(a*cosf(theta) + b*cosf((2.0f*PI/3.0f)+theta) + c*cosf((-2.0f*PI/3.0f)+theta));
- *q = (2.0f/3.0f)*(a*sinf(theta) + b*sinf((2.0f*PI/3.0f)+theta) + c*sinf((-2.0f*PI/3.0f)+theta));
- }
void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
///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)*MODULATION_FACTOR/v_bus + ((DTC_MAX+DTC_MIN)/2)), DTC_MIN), DTC_MAX);
+ *dtc_v = fminf(fmaxf(((v - v_offset)*MODULATION_FACTOR/v_bus + ((DTC_MAX+DTC_MIN)/2)), DTC_MIN), DTC_MAX);
+ *dtc_w = fminf(fmaxf(((w - v_offset)*MODULATION_FACTOR/v_bus + ((DTC_MAX+DTC_MIN)/2)), DTC_MIN), DTC_MAX);
}
-void zero_current(int *offset_1, int *offset_2){
- int adc1_offset = 0;
- int adc2_offset = 0;
- int n = 1024;
- for (int i = 0; i<n; i++){
- ADC1->CR2 |= 0x40000000;
- 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){
+void reset_foc(FocStruct *controller){
controller->q_int = 0;
controller->d_int = 0;
}
-void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta){
+void commutate(FocStruct *controller){
- controller->loop_count ++;
- if(gpio->phasing){
- controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings
- controller->i_a = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
- }
- else{
- controller->i_b = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset); //Calculate phase currents from ADC readings
- controller->i_a = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);
- }
- controller->i_c = -controller->i_b - controller->i_a;
-
-
- dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ controller->loop_count ++;
+// controller->i_a = inverter->i_a;
+// controller->i_b = inverter->i_b;
+// controller->i_c = inverter->i_c;
+
+
+ float s = sinf(controller->theta_elec);
+ float c = cosf(controller->theta_elec);
+ //float s = FastSin(controller->theta_elec);
+ //float c = FastCos(controller->theta_elec);
+
+ 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);
- ///Cogging Compensation Lookup///
- //int ind = theta * (128.0f/(2.0f*PI));
- //float cogging_current = controller->cogging[ind];
- //float cogging_current = 1.0f*cos(6*theta);
- ///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 = 2.0f*(2*controller->i_q_ref*R_PHASE + controller->dtheta_elec*WB*0.8165f);
- controller->d_int += i_d_error;
- controller->q_int += i_q_error;
+ float i_d_error = controller->i_d_ref - controller->i_d;
+ float i_q_error = controller->i_q_ref - controller->i_q;
+
+ controller->d_int += i_d_error;
+ controller->q_int += i_q_error;
+ limit_norm(&controller->d_int, &controller->q_int, V_CLIP/(K_Q*KI_Q));
+
+ controller->v_d = K_D*i_d_error + K_D*KI_D*controller->d_int;// + v_d_ff;
+ controller->v_q = K_Q*i_q_error + K_Q*KI_Q*controller->q_int;// + v_q_ff;
+
+ limit_norm(&controller->v_d, &controller->v_q, V_CLIP);
+
+ if (USE_THETA_ADV) {
+ s = sinf(controller->theta_elec_adv);
+ c = cosf(controller->theta_elec_adv);
+ }
+
+ //s = FastSin(controller->theta_elec_adv);
+ //c = FastCos(controller->theta_elec_adv);
+
+ 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(V_BUS, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
+
+ //controller->dtc_u = 0.2;
+ //controller->dtc_v = 0.2;
+ //controller->dtc_w = 0.8;
+
+// focc->dtc_u = controller->dtc_u;
+// inverter->dtc_v = controller->dtc_v;
+// inverter->dtc_w = controller->dtc_w;
+
+
+ if(controller->loop_count >10000){
+ controller->loop_count = 0;
+ }
+}
+
+
+
- //v_d_ff = 0;
- //v_q_ff = 0;
+void voltage_mode_commutate(FocStruct *controller){
+
+ controller->loop_count ++;
+
+ float s = sinf(controller->theta_elec);
+ float c = cosf(controller->theta_elec);
+
+ 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);
- limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_Q*KI_Q));
- //controller->d_int = fminf(fmaxf(controller->d_int, -D_INT_LIM), D_INT_LIM);
- //controller->q_int = fminf(fmaxf(controller->q_int, -Q_INT_LIM), Q_INT_LIM);
+
+ limit_norm(&controller->v_d, &controller->v_q, V_CLIP);
+
+ if (USE_THETA_ADV) {
+ s = sinf(controller->theta_elec_adv);
+ c = cosf(controller->theta_elec_adv);
+ }
+
+ 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(V_BUS, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
+
+
+ if(controller->loop_count >10000){
+ controller->loop_count = 0;
+ }
+}
- controller->v_d = K_D*i_d_error + K_D*KI_D*controller->d_int;// + v_d_ff;
- controller->v_q = K_Q*i_q_error + K_Q*KI_Q*controller->q_int;// + v_q_ff;
- //controller->v_d = v_d_ff;
- //controller->v_q = v_q_ff;
-
- limit_norm(&controller->v_d, &controller->v_q, controller->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
- 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
-
- //gpio->pwm_u->write(1.0f-controller->dtc_u); //write duty cycles
- //gpio->pwm_v->write(1.0f-controller->dtc_v);
- //gpio->pwm_w->write(1.0f-controller->dtc_w);
-
- //bing1 = (controller->dtc_u);
- //bing2 = (controller->dtc_v);
- //bing3 = (controller->dtc_w);
- /*
- //if(gpio->phasing){
- TIM1->CCR1 = 0x1194*(1.0f-controller->dtc_u);
- TIM1->CCR2 = 0x1194*(1.0f-controller->dtc_v);
- TIM1->CCR3 = 0x1194*(1.0f-controller->dtc_w);
- }
- else{
- TIM1->CCR3 = 0x1194*(1.0f-controller->dtc_u);
- TIM1->CCR1 = 0x1194*(1.0f-controller->dtc_v);
- TIM1->CCR2 = 0x1194*(1.0f-controller->dtc_w);
- }*/
- //gpio->pwm_u->write(1.0f - .05f); //write duty cycles
- //gpio->pwm_v->write(1.0f - .05f);
- //gpio->pwm_w->write(1.0f - .1f);
- //TIM1->CCR1 = 0x708*(1.0f-controller->dtc_u);
- //TIM1->CCR2 = 0x708*(1.0f-controller->dtc_v);
- //TIM1->CCR3 = 0x708*(1.0f-controller->dtc_w);
- controller->theta_elec = theta; //For some reason putting this at the front breaks thins
-
-
- if(controller->loop_count >400){
- //controller->i_q_ref = -controller->i_q_ref;
- controller->loop_count = 0;
-
- //printf("%d %f\n\r", ind, cogging_current);
- //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 zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){
- }
-*/
-
-void voltageabc( float theta, float d, float q, float *a, float *b, float *c){
- ///Phase current amplitude = lengh of dq vector///
- ///i.e. iq = 1, id = 0, peak phase current of 1///
-
- *a = sinf(theta);
- *b = sinf((2.0f*PI/3.0f)+theta);
- *c = sinf((-2.0f*PI/3.0f)+theta);
- }
-