Diff: FOC/foc.cpp

Revision:

26:2b865c00d7e9

Parent:

25:f5741040c4bb

Child:

27:501fee691e0e

--- a/FOC/foc.cpp	Sun Apr 09 03:05:52 2017 +0000
+++ b/FOC/foc.cpp	Mon May 01 15:22:58 2017 +0000
@@ -1,8 +1,8 @@
 #include "user_config.h"
 #include "foc.h"
 
-//#include "FastMath.h"
-//using namespace FastMath;
+#include "FastMath.h"
+using namespace FastMath;
 
 
 void abc( float theta, float d, float q, float *a, float *b, float *c){
@@ -10,18 +10,22 @@
     ///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);
+    *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///
     
-    *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));
+    //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){
@@ -31,7 +35,7 @@
     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_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);  
     
     }
 
@@ -40,7 +44,10 @@
     int adc2_offset = 0;
     int n = 1024;
     for (int i = 0; i<n; i++){                                                  // Average n samples of the ADC
-        ADC1->CR2  |= 0x40000000; 
+        TIM1->CCR3 = 0x708*(1.0f);                                               // Write duty cycles
+        TIM1->CCR2 = 0x708*(1.0f);
+        TIM1->CCR1 = 0x708*(1.0f);
+        ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
         wait(.001);
         adc2_offset += ADC2->DR;
         adc1_offset += ADC1->DR;
@@ -57,6 +64,7 @@
 
 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
@@ -66,19 +74,23 @@
             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;                                   
-       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_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);   ///Fast 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, doesn't actually work yet///
        //int ind = theta * (128.0f/(2.0f*PI));
        //float cogging_current = controller->cogging[ind];
-       //float cogging_current = 1.0f*cos(6*theta);
+       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 = 2.0f*(2*controller->i_q_ref*R_PHASE + controller->dtheta_elec*WB*0.8165f);
+       float v_q_ff =  controller->dtheta_elec*WB*1.73205081;
        controller->d_int += i_d_error;   
        controller->q_int += i_q_error;
        
@@ -86,10 +98,6 @@
        //v_q_ff = 0;
        
        limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_Q*KI_Q));        // Limit integrators to prevent windup
-       //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);
-       
-       
        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; 
        
@@ -97,7 +105,11 @@
        //controller->v_q = v_q_ff; 
        
        limit_norm(&controller->v_d, &controller->v_q, 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
+       //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;
+        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
 
        
@@ -115,17 +127,27 @@
        controller->theta_elec = theta;                                          //For some reason putting this at the front breaks thins
        
 
-       //if(controller->loop_count >400){
+       if(controller->loop_count >400){
            //controller->i_q_ref = -controller->i_q_ref;
-          // controller->loop_count  = 0;
+          controller->loop_count  = 0;
            
-           //printf("%d   %f\n\r", ind, cogging_current);
+           //printf("%.1f  %.1f  %.1f  %.1f  %.1f\n\r", controller->i_d, controller->i_q, controller->v_d, controller->v_q, controller->dtheta_mech);
            //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 - GR*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, ){