Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

FOC/foc.cpp@56:fe5056ac6740, 2019-10-10 (annotated)

Committer:
benkatz
Date:
Thu Oct 10 15:03:12 2019 +0000
Revision:
56:fe5056ac6740
Parent:
55:c4c9fec8539c 
fixed position-sensor turn-on weirdness; ; improved output zeroing to work independent of encoder rollover angle

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 37:c0f352d6e8e3 1
benkatz 22:60276ba87ac6 2 #include "foc.h"
benkatz 26:2b865c00d7e9 3 using namespace FastMath;
benkatz 22:60276ba87ac6 4
benkatz 22:60276ba87ac6 5
benkatz 22:60276ba87ac6 6 void abc( float theta, float d, float q, float *a, float *b, float *c){
benkatz 25:f5741040c4bb 7 /// Inverse DQ0 Transform ///
benkatz 22:60276ba87ac6 8 ///Phase current amplitude = lengh of dq vector///
benkatz 22:60276ba87ac6 9 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 37:c0f352d6e8e3 10 float cf = FastCos(theta);
benkatz 37:c0f352d6e8e3 11 float sf = FastSin(theta);
benkatz 37:c0f352d6e8e3 12
benkatz 37:c0f352d6e8e3 13 *a = cf*d - sf*q; // Faster Inverse DQ0 transform
benkatz 37:c0f352d6e8e3 14 *b = (0.86602540378f*sf-.5f*cf)*d - (-0.86602540378f*cf-.5f*sf)*q;
benkatz 37:c0f352d6e8e3 15 *c = (-0.86602540378f*sf-.5f*cf)*d - (0.86602540378f*cf-.5f*sf)*q;
benkatz 22:60276ba87ac6 16 }
benkatz 22:60276ba87ac6 17
benkatz 26:2b865c00d7e9 18
benkatz 22:60276ba87ac6 19 void dq0(float theta, float a, float b, float c, float *d, float *q){
benkatz 25:f5741040c4bb 20 /// DQ0 Transform ///
benkatz 22:60276ba87ac6 21 ///Phase current amplitude = lengh of dq vector///
benkatz 22:60276ba87ac6 22 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 22:60276ba87ac6 23
benkatz 37:c0f352d6e8e3 24 float cf = FastCos(theta);
benkatz 37:c0f352d6e8e3 25 float sf = FastSin(theta);
benkatz 26:2b865c00d7e9 26
benkatz 37:c0f352d6e8e3 27 *d = 0.6666667f*(cf*a + (0.86602540378f*sf-.5f*cf)*b + (-0.86602540378f*sf-.5f*cf)*c); ///Faster DQ0 Transform
benkatz 37:c0f352d6e8e3 28 *q = 0.6666667f*(-sf*a - (-0.86602540378f*cf-.5f*sf)*b - (0.86602540378f*cf-.5f*sf)*c);
benkatz 37:c0f352d6e8e3 29
benkatz 22:60276ba87ac6 30 }
benkatz 22:60276ba87ac6 31
benkatz 55:c4c9fec8539c 32 void svm(float v_bus, float u, float v, float w, int i_sector, float *dtc_u, float *dtc_v, float *dtc_w){
benkatz 25:f5741040c4bb 33 /// Space Vector Modulation ///
benkatz 25:f5741040c4bb 34 /// u,v,w amplitude = v_bus for full modulation depth ///
benkatz 22:60276ba87ac6 35
benkatz 48:74a40481740c 36 float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))*0.5f;
benkatz 47:e1196a851f76 37
benkatz 55:c4c9fec8539c 38 // Dead-time compensation
benkatz 55:c4c9fec8539c 39 float u_comp = DTC_COMP*(-(i_sector==4) + (i_sector==3));
benkatz 55:c4c9fec8539c 40 float v_comp = DTC_COMP*(-(i_sector==2) + (i_sector==5));
benkatz 55:c4c9fec8539c 41 float w_comp = DTC_COMP*((i_sector==6) - (i_sector==1));
benkatz 55:c4c9fec8539c 42
benkatz 55:c4c9fec8539c 43
benkatz 55:c4c9fec8539c 44 *dtc_u = fminf(fmaxf((.5f*(u -v_offset)/(v_bus*(DTC_MAX-DTC_MIN)) + (DTC_MAX+DTC_MIN)*.5f + u_comp), DTC_MIN), DTC_MAX);
benkatz 55:c4c9fec8539c 45 *dtc_v = fminf(fmaxf((.5f*(v -v_offset)/(v_bus*(DTC_MAX-DTC_MIN)) + (DTC_MAX+DTC_MIN)*.5f + v_comp), DTC_MIN), DTC_MAX);
benkatz 55:c4c9fec8539c 46 *dtc_w = fminf(fmaxf((.5f*(w -v_offset)/(v_bus*(DTC_MAX-DTC_MIN)) + (DTC_MAX+DTC_MIN)*.5f + w_comp), DTC_MIN), DTC_MAX);
benkatz 47:e1196a851f76 47
benkatz 47:e1196a851f76 48 /*
benkatz 47:e1196a851f76 49 sinusoidal pwm
benkatz 47:e1196a851f76 50 *dtc_u = fminf(fmaxf((u/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 47:e1196a851f76 51 *dtc_v = fminf(fmaxf((v/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 47:e1196a851f76 52 *dtc_w = fminf(fmaxf((w/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 47:e1196a851f76 53 */
benkatz 47:e1196a851f76 54
benkatz 22:60276ba87ac6 55
benkatz 22:60276ba87ac6 56 }
benkatz 22:60276ba87ac6 57
benkatz 25:f5741040c4bb 58 void zero_current(int *offset_1, int *offset_2){ // Measure zero-offset of the current sensors
benkatz 22:60276ba87ac6 59 int adc1_offset = 0;
benkatz 22:60276ba87ac6 60 int adc2_offset = 0;
benkatz 22:60276ba87ac6 61 int n = 1024;
benkatz 25:f5741040c4bb 62 for (int i = 0; i<n; i++){ // Average n samples of the ADC
benkatz 27:501fee691e0e 63 TIM1->CCR3 = (PWM_ARR>>1)*(1.0f); // Write duty cycles
benkatz 27:501fee691e0e 64 TIM1->CCR2 = (PWM_ARR>>1)*(1.0f);
benkatz 27:501fee691e0e 65 TIM1->CCR1 = (PWM_ARR>>1)*(1.0f);
benkatz 26:2b865c00d7e9 66 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 67 wait(.001);
benkatz 22:60276ba87ac6 68 adc2_offset += ADC2->DR;
benkatz 22:60276ba87ac6 69 adc1_offset += ADC1->DR;
benkatz 22:60276ba87ac6 70 }
benkatz 22:60276ba87ac6 71 *offset_1 = adc1_offset/n;
benkatz 22:60276ba87ac6 72 *offset_2 = adc2_offset/n;
benkatz 22:60276ba87ac6 73 }
benkatz 45:26801179208e 74
benkatz 45:26801179208e 75 void init_controller_params(ControllerStruct *controller){
benkatz 45:26801179208e 76 controller->ki_d = KI_D;
benkatz 45:26801179208e 77 controller->ki_q = KI_Q;
benkatz 45:26801179208e 78 controller->k_d = K_SCALE*I_BW;
benkatz 45:26801179208e 79 controller->k_q = K_SCALE*I_BW;
benkatz 45:26801179208e 80 controller->alpha = 1.0f - 1.0f/(1.0f - DT*I_BW*2.0f*PI);
benkatz 55:c4c9fec8539c 81 for(int i = 0; i<128; i++)
benkatz 55:c4c9fec8539c 82 {
benkatz 55:c4c9fec8539c 83 controller->inverter_tab[i] = 1.0f + 1.2f*exp(-0.0078125f*i/.032f);
benkatz 55:c4c9fec8539c 84 }
benkatz 45:26801179208e 85 }
benkatz 22:60276ba87ac6 86
benkatz 22:60276ba87ac6 87 void reset_foc(ControllerStruct *controller){
benkatz 28:8c7e29f719c5 88 TIM1->CCR3 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 89 TIM1->CCR1 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 90 TIM1->CCR2 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 91 controller->i_d_ref = 0;
benkatz 28:8c7e29f719c5 92 controller->i_q_ref = 0;
benkatz 28:8c7e29f719c5 93 controller->i_d = 0;
benkatz 28:8c7e29f719c5 94 controller->i_q = 0;
benkatz 37:c0f352d6e8e3 95 controller->i_q_filt = 0;
benkatz 22:60276ba87ac6 96 controller->q_int = 0;
benkatz 22:60276ba87ac6 97 controller->d_int = 0;
benkatz 28:8c7e29f719c5 98 controller->v_q = 0;
benkatz 28:8c7e29f719c5 99 controller->v_d = 0;
benkatz 55:c4c9fec8539c 100 controller->otw_flag = 0;
benkatz 47:e1196a851f76 101
benkatz 22:60276ba87ac6 102 }
benkatz 45:26801179208e 103
benkatz 48:74a40481740c 104 void reset_observer(ObserverStruct *observer){
benkatz 55:c4c9fec8539c 105
benkatz 48:74a40481740c 106 observer->temperature = 25.0f;
benkatz 55:c4c9fec8539c 107 observer->temp_measured = 25.0f;
benkatz 55:c4c9fec8539c 108 //observer->resistance = .1f;
benkatz 48:74a40481740c 109 }
benkatz 48:74a40481740c 110
benkatz 45:26801179208e 111 void limit_current_ref (ControllerStruct *controller){
benkatz 45:26801179208e 112 float i_q_max_limit = (0.5774f*controller->v_bus - controller->dtheta_elec*WB)/R_PHASE;
benkatz 45:26801179208e 113 float i_q_min_limit = (-0.5774f*controller->v_bus - controller->dtheta_elec*WB)/R_PHASE;
benkatz 45:26801179208e 114 controller->i_q_ref = fmaxf(fminf(i_q_max_limit, controller->i_q_ref), i_q_min_limit);
benkatz 45:26801179208e 115 }
benkatz 22:60276ba87ac6 116
benkatz 55:c4c9fec8539c 117 void update_observer(ControllerStruct *controller, ObserverStruct *observer)
benkatz 55:c4c9fec8539c 118 {
benkatz 55:c4c9fec8539c 119 /// Update observer estimates ///
benkatz 55:c4c9fec8539c 120 // Resistance observer //
benkatz 55:c4c9fec8539c 121 // Temperature Observer //
benkatz 55:c4c9fec8539c 122 observer->delta_t = (float)observer->temperature - T_AMBIENT;
benkatz 55:c4c9fec8539c 123 float i_sq = controller->i_d*controller->i_d + controller->i_q*controller->i_q;
benkatz 55:c4c9fec8539c 124 observer->q_in = (R_NOMINAL*1.5f)*(1.0f + .00393f*observer->delta_t)*i_sq;
benkatz 55:c4c9fec8539c 125 observer->q_out = observer->delta_t*R_TH;
benkatz 55:c4c9fec8539c 126 observer->temperature += (INV_M_TH*DT)*(observer->q_in-observer->q_out);
benkatz 55:c4c9fec8539c 127
benkatz 55:c4c9fec8539c 128 //float r_d = (controller->v_d*(DTC_MAX-DTC_MIN) + SQRT3*controller->dtheta_elec*(L_Q*controller->i_q))/(controller->i_d*SQRT3);
benkatz 55:c4c9fec8539c 129 float r_q = (controller->v_q*(DTC_MAX-DTC_MIN) - SQRT3*controller->dtheta_elec*(L_D*controller->i_d + WB))/(controller->i_q*SQRT3);
benkatz 55:c4c9fec8539c 130 observer->resistance = r_q;//(r_d*controller->i_d + r_q*controller->i_q)/(controller->i_d + controller->i_q); // voltages more accurate at higher duty cycles
benkatz 55:c4c9fec8539c 131
benkatz 55:c4c9fec8539c 132 //observer->resistance = controller->v_q/controller->i_q;
benkatz 55:c4c9fec8539c 133 if(isnan(observer->resistance) || isinf(observer->resistance)){observer->resistance = R_NOMINAL;}
benkatz 55:c4c9fec8539c 134 float t_raw = ((T_AMBIENT + ((observer->resistance/R_NOMINAL) - 1.0f)*254.5f));
benkatz 55:c4c9fec8539c 135 if(t_raw > 200.0f){t_raw = 200.0f;}
benkatz 55:c4c9fec8539c 136 else if(t_raw < 0.0f){t_raw = 0.0f;}
benkatz 55:c4c9fec8539c 137 observer->temp_measured = .999f*observer->temp_measured + .001f*t_raw;
benkatz 55:c4c9fec8539c 138 float e = (float)observer->temperature - observer->temp_measured;
benkatz 55:c4c9fec8539c 139 observer->trust = (1.0f - .004f*fminf(abs(controller->dtheta_elec), 250.0f)) * (.01f*(fminf(i_sq, 100.0f)));
benkatz 55:c4c9fec8539c 140 observer->temperature -= observer->trust*.0001f*e;
benkatz 55:c4c9fec8539c 141 //printf("%.3f\n\r", e);
benkatz 55:c4c9fec8539c 142
benkatz 55:c4c9fec8539c 143 if(observer->temperature > TEMP_MAX){controller->otw_flag = 1;}
benkatz 55:c4c9fec8539c 144 else{controller->otw_flag = 0;}
benkatz 55:c4c9fec8539c 145 }
benkatz 22:60276ba87ac6 146
benkatz 55:c4c9fec8539c 147 float linearize_dtc(ControllerStruct *controller, float dtc)
benkatz 55:c4c9fec8539c 148 {
benkatz 55:c4c9fec8539c 149 float duty = fmaxf(fminf(abs(dtc), .999f), 0.0f);;
benkatz 55:c4c9fec8539c 150 int index = (int) (duty*127.0f);
benkatz 55:c4c9fec8539c 151 float val1 = controller->inverter_tab[index];
benkatz 55:c4c9fec8539c 152 float val2 = controller->inverter_tab[index+1];
benkatz 55:c4c9fec8539c 153 return val1 + (val2 - val1)*(duty*128.0f - (float)index);
benkatz 55:c4c9fec8539c 154 }
benkatz 47:e1196a851f76 155
benkatz 55:c4c9fec8539c 156 void field_weaken(ControllerStruct *controller)
benkatz 55:c4c9fec8539c 157 {
benkatz 55:c4c9fec8539c 158 /// Field Weakening ///
benkatz 55:c4c9fec8539c 159
benkatz 55:c4c9fec8539c 160 controller->fw_int += .001f*(0.5f*OVERMODULATION*controller->v_bus - controller->v_ref);
benkatz 55:c4c9fec8539c 161 controller->fw_int = fmaxf(fminf(controller->fw_int, 0.0f), -I_FW_MAX);
benkatz 55:c4c9fec8539c 162 controller->i_d_ref = controller->fw_int;
benkatz 55:c4c9fec8539c 163 float q_max = sqrt(controller->i_max*controller->i_max - controller->i_d_ref*controller->i_d_ref);
benkatz 55:c4c9fec8539c 164 controller->i_q_ref = fmaxf(fminf(controller->i_q_ref, q_max), -q_max);
benkatz 55:c4c9fec8539c 165 //float i_cmd_mag_sq = controller->i_d_ref*controller->i_d_ref + controller->i_q_ref*controller->i_q_ref;
benkatz 55:c4c9fec8539c 166
benkatz 55:c4c9fec8539c 167 }
benkatz 55:c4c9fec8539c 168 void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta)
benkatz 55:c4c9fec8539c 169 {
benkatz 25:f5741040c4bb 170 /// Commutation Loop ///
benkatz 25:f5741040c4bb 171 controller->loop_count ++;
benkatz 25:f5741040c4bb 172 if(PHASE_ORDER){ // Check current sensor ordering
benkatz 25:f5741040c4bb 173 controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); // Calculate phase currents from ADC readings
benkatz 22:60276ba87ac6 174 controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
benkatz 22:60276ba87ac6 175 }
benkatz 22:60276ba87ac6 176 else{
benkatz 25:f5741040c4bb 177 controller->i_b = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
benkatz 22:60276ba87ac6 178 controller->i_c = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);
benkatz 22:60276ba87ac6 179 }
benkatz 26:2b865c00d7e9 180 controller->i_a = -controller->i_b - controller->i_c;
benkatz 55:c4c9fec8539c 181 if((abs(controller->i_b) > 41.0f)|(abs(controller->i_c) > 41.0f)|(abs(controller->i_a) > 41.0f)){controller->oc_flag = 1;}
benkatz 22:60276ba87ac6 182
benkatz 26:2b865c00d7e9 183 float s = FastSin(theta);
benkatz 26:2b865c00d7e9 184 float c = FastCos(theta);
benkatz 44:8040fa2fcb0d 185 dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
benkatz 44:8040fa2fcb0d 186 //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
benkatz 44:8040fa2fcb0d 187 //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);
benkatz 37:c0f352d6e8e3 188
benkatz 37:c0f352d6e8e3 189 controller->i_q_filt = 0.95f*controller->i_q_filt + 0.05f*controller->i_q;
benkatz 47:e1196a851f76 190 controller->i_d_filt = 0.95f*controller->i_d_filt + 0.05f*controller->i_d;
benkatz 37:c0f352d6e8e3 191
benkatz 45:26801179208e 192
benkatz 49:83d83040ea51 193 // Filter the current references to the desired closed-loop bandwidth
benkatz 55:c4c9fec8539c 194 //controller->i_d_ref_filt = (1.0f-controller->alpha)*controller->i_d_ref_filt + controller->alpha*controller->i_d_ref;
benkatz 55:c4c9fec8539c 195 //controller->i_q_ref_filt = (1.0f-controller->alpha)*controller->i_q_ref_filt + controller->alpha*controller->i_q_ref;
benkatz 55:c4c9fec8539c 196
benkatz 55:c4c9fec8539c 197 controller->i_max = I_MAX*(!controller->otw_flag) + I_MAX_CONT*controller->otw_flag;
benkatz 55:c4c9fec8539c 198
benkatz 55:c4c9fec8539c 199 // Temperature Controller //
benkatz 55:c4c9fec8539c 200 /*
benkatz 55:c4c9fec8539c 201 if(observer->temperature > TEMP_MAX)
benkatz 55:c4c9fec8539c 202 {
benkatz 55:c4c9fec8539c 203 float qdot_des = 1.0f*(TEMP_MAX - observer->temperature);
benkatz 55:c4c9fec8539c 204 float i_limit = sqrt((qdot_des + observer->q_out)/(R_NOMINAL*1.5f));
benkatz 55:c4c9fec8539c 205 controller->i_max = fmaxf(fminf(i_limit, I_MAX), I_MAX_CONT);
benkatz 55:c4c9fec8539c 206 }
benkatz 55:c4c9fec8539c 207 else{controller->i_max = I_MAX;}
benkatz 55:c4c9fec8539c 208 */
benkatz 55:c4c9fec8539c 209
benkatz 55:c4c9fec8539c 210 limit_norm(&controller->i_d_ref, &controller->i_q_ref, controller->i_max);
benkatz 48:74a40481740c 211
benkatz 25:f5741040c4bb 212 /// PI Controller ///
benkatz 22:60276ba87ac6 213 float i_d_error = controller->i_d_ref - controller->i_d;
benkatz 45:26801179208e 214 float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current;
benkatz 37:c0f352d6e8e3 215
benkatz 45:26801179208e 216 // Calculate feed-forward voltages //
benkatz 55:c4c9fec8539c 217 float v_d_ff = SQRT3*(0.0f*controller->i_d_ref*R_PHASE - controller->dtheta_elec*L_Q*controller->i_q); //feed-forward voltages
benkatz 55:c4c9fec8539c 218 float v_q_ff = SQRT3*(0.0f*controller->i_q_ref*R_PHASE + controller->dtheta_elec*(L_D*controller->i_d + 0.0f*WB));
benkatz 37:c0f352d6e8e3 219
benkatz 45:26801179208e 220 // Integrate Error //
benkatz 47:e1196a851f76 221 controller->d_int += controller->k_d*controller->ki_d*i_d_error;
benkatz 47:e1196a851f76 222 controller->q_int += controller->k_q*controller->ki_q*i_q_error;
benkatz 47:e1196a851f76 223
benkatz 47:e1196a851f76 224 controller->d_int = fmaxf(fminf(controller->d_int, OVERMODULATION*controller->v_bus), - OVERMODULATION*controller->v_bus);
benkatz 47:e1196a851f76 225 controller->q_int = fmaxf(fminf(controller->q_int, OVERMODULATION*controller->v_bus), - OVERMODULATION*controller->v_bus);
benkatz 47:e1196a851f76 226
benkatz 47:e1196a851f76 227 //limit_norm(&controller->d_int, &controller->q_int, OVERMODULATION*controller->v_bus);
benkatz 55:c4c9fec8539c 228 controller->v_d = controller->k_d*i_d_error + controller->d_int;// + v_d_ff;
benkatz 55:c4c9fec8539c 229 controller->v_q = controller->k_q*i_q_error + controller->q_int;// + v_q_ff;
benkatz 55:c4c9fec8539c 230 //controller->v_q = 0.0f;
benkatz 55:c4c9fec8539c 231 //controller->v_d = 1.0f*controller->v_bus;
benkatz 47:e1196a851f76 232 controller->v_ref = sqrt(controller->v_d*controller->v_d + controller->v_q*controller->v_q);
benkatz 22:60276ba87ac6 233
benkatz 44:8040fa2fcb0d 234 limit_norm(&controller->v_d, &controller->v_q, OVERMODULATION*controller->v_bus); // Normalize voltage vector to lie within curcle of radius v_bus
benkatz 55:c4c9fec8539c 235 float dtc = controller->v_ref/controller->v_bus;
benkatz 55:c4c9fec8539c 236 float scale = linearize_dtc(controller, dtc);
benkatz 55:c4c9fec8539c 237 //controller->v_d = scale*controller->v_d;
benkatz 55:c4c9fec8539c 238 //controller->v_q = scale*controller->v_q;
benkatz 53:e85efce8c1eb 239 //float dtc_q = controller->v_q/controller->v_bus;
benkatz 55:c4c9fec8539c 240
benkatz 53:e85efce8c1eb 241 //linearize_dtc(&dtc_q);
benkatz 53:e85efce8c1eb 242 //controller->v_d = dtc_d*controller->v_bus;
benkatz 53:e85efce8c1eb 243 //controller->v_q = dtc_q*controller->v_bus;
benkatz 55:c4c9fec8539c 244 abc(controller->theta_elec + 0.0f*DT*controller->dtheta_elec, scale*controller->v_d, scale*controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
benkatz 55:c4c9fec8539c 245 controller->current_sector = ((controller->i_a>0)<<2)|((controller->i_b>0)<<1)|(controller->i_c>0);
benkatz 55:c4c9fec8539c 246 svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, controller->current_sector, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
benkatz 55:c4c9fec8539c 247
benkatz 55:c4c9fec8539c 248
benkatz 55:c4c9fec8539c 249
benkatz 22:60276ba87ac6 250
benkatz 25:f5741040c4bb 251 if(PHASE_ORDER){ // Check which phase order to use,
benkatz 31:61eb6ae28215 252 TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u); // Write duty cycles
benkatz 31:61eb6ae28215 253 TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_v);
benkatz 31:61eb6ae28215 254 TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_w);
benkatz 22:60276ba87ac6 255 }
benkatz 22:60276ba87ac6 256 else{
benkatz 32:ccac5da77844 257 TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u);
benkatz 32:ccac5da77844 258 TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_v);
benkatz 32:ccac5da77844 259 TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_w);
benkatz 22:60276ba87ac6 260 }
benkatz 25:f5741040c4bb 261
benkatz 48:74a40481740c 262 controller->theta_elec = theta;
benkatz 22:60276ba87ac6 263
benkatz 22:60276ba87ac6 264 }
benkatz 26:2b865c00d7e9 265
benkatz 26:2b865c00d7e9 266
benkatz 26:2b865c00d7e9 267 void torque_control(ControllerStruct *controller){
benkatz 28:8c7e29f719c5 268 float torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(controller->v_des - controller->dtheta_mech);
benkatz 26:2b865c00d7e9 269 //float torque_ref = -.1*(controller->p_des - controller->theta_mech);
benkatz 26:2b865c00d7e9 270 controller->i_q_ref = torque_ref/KT_OUT;
benkatz 37:c0f352d6e8e3 271 controller->i_d_ref = 0.0f;
benkatz 26:2b865c00d7e9 272 }
benkatz 47:e1196a851f76 273