Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

SVM/SVM.cpp@6:4ee1cdc43aa8, 2016-03-12 (annotated)

Committer:
benkatz
Date:
Sat Mar 12 19:55:52 2016 +0000
Revision:
6:4ee1cdc43aa8
Parent:
5:51c6560bf624
Child:
10:370851e6e132
Switched from sinusoidal pwm to svm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1
benkatz 0:4e1c4df6aabd 2 #include "mbed.h"
benkatz 0:4e1c4df6aabd 3 #include "SVM.h"
benkatz 0:4e1c4df6aabd 4 #include "Inverter.h"
benkatz 6:4ee1cdc43aa8 5 #define min(x,y,z) (x < y ? (x < z ? x : z) : (y < z ? y : z))
benkatz 6:4ee1cdc43aa8 6 #define max(x,y,z) (x > y ? (x > z ? x : z) : (y > z ? y : z))
benkatz 0:4e1c4df6aabd 7
benkatz 0:4e1c4df6aabd 8 SPWM::SPWM(Inverter *inverter, float V_Bus){
benkatz 0:4e1c4df6aabd 9 _inverter = inverter;
benkatz 0:4e1c4df6aabd 10 _V_Bus = V_Bus;
benkatz 0:4e1c4df6aabd 11 }
benkatz 5:51c6560bf624 12
benkatz 5:51c6560bf624 13 void SPWM::Update_DTC(float V_A, float V_B, float V_C){
benkatz 5:51c6560bf624 14 float DTC_A = V_A/_V_Bus + .5f;
benkatz 5:51c6560bf624 15 float DTC_B = V_B/_V_Bus + .5f;
benkatz 5:51c6560bf624 16 float DTC_C = V_C/_V_Bus + .5f;
benkatz 0:4e1c4df6aabd 17
benkatz 0:4e1c4df6aabd 18 if(DTC_A > .95f) DTC_A = .95f;
benkatz 0:4e1c4df6aabd 19 else if(DTC_A < .05f) DTC_A = .05f;
benkatz 0:4e1c4df6aabd 20 if(DTC_B > .95f) DTC_B = .95f;
benkatz 0:4e1c4df6aabd 21 else if(DTC_B < .05f) DTC_B = .05f;
benkatz 0:4e1c4df6aabd 22 if(DTC_C > .95f) DTC_C = .95f;
benkatz 0:4e1c4df6aabd 23 else if(DTC_C < .05f) DTC_C = .05f;
benkatz 0:4e1c4df6aabd 24 _inverter->SetDTC(DTC_A, DTC_B, DTC_C);
benkatz 5:51c6560bf624 25 }
benkatz 5:51c6560bf624 26
benkatz 5:51c6560bf624 27 SVPWM::SVPWM(Inverter *inverter, float V_Bus){
benkatz 5:51c6560bf624 28 _inverter = inverter;
benkatz 5:51c6560bf624 29 _V_Bus = V_Bus;
benkatz 5:51c6560bf624 30 }
benkatz 5:51c6560bf624 31
benkatz 5:51c6560bf624 32 void SVPWM::Update_DTC(float V_A, float V_B, float V_C){
benkatz 6:4ee1cdc43aa8 33
benkatz 6:4ee1cdc43aa8 34 float Voff = (min(V_A, V_B, V_C) + max(V_A, V_B, V_C))/2.0f;
benkatz 6:4ee1cdc43aa8 35
benkatz 6:4ee1cdc43aa8 36 V_A = V_A - Voff;
benkatz 6:4ee1cdc43aa8 37 V_B = V_B - Voff;
benkatz 6:4ee1cdc43aa8 38 V_C = V_C - Voff;
benkatz 6:4ee1cdc43aa8 39
benkatz 5:51c6560bf624 40 float DTC_A = V_A/_V_Bus + .5f;
benkatz 5:51c6560bf624 41 float DTC_B = V_B/_V_Bus + .5f;
benkatz 5:51c6560bf624 42 float DTC_C = V_C/_V_Bus + .5f;
benkatz 5:51c6560bf624 43
benkatz 6:4ee1cdc43aa8 44
benkatz 6:4ee1cdc43aa8 45
benkatz 5:51c6560bf624 46 if(DTC_A > .95f) DTC_A = .95f;
benkatz 5:51c6560bf624 47 else if(DTC_A < .05f) DTC_A = .05f;
benkatz 5:51c6560bf624 48 if(DTC_B > .95f) DTC_B = .95f;
benkatz 5:51c6560bf624 49 else if(DTC_B < .05f) DTC_B = .05f;
benkatz 5:51c6560bf624 50 if(DTC_C > .95f) DTC_C = .95f;
benkatz 5:51c6560bf624 51 else if(DTC_C < .05f) DTC_C = .05f;
benkatz 5:51c6560bf624 52 _inverter->SetDTC(DTC_A, DTC_B, DTC_C);
benkatz 5:51c6560bf624 53 }
benkatz 5:51c6560bf624 54