Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

SVM/SVM.cpp@14:80ce59119d93, 2016-10-31 (annotated)

Committer:
benkatz
Date:
Mon Oct 31 16:48:16 2016 +0000
Revision:
14:80ce59119d93
Parent:
10:370851e6e132 
Misc. changes.  Finally fixed transforms (turns out B and C current measurements were accidentally swapped)

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 10:370851e6e132 13 //sinusoidal PWM
benkatz 5:51c6560bf624 14 void SPWM::Update_DTC(float V_A, float V_B, float V_C){
benkatz 5:51c6560bf624 15 float DTC_A = V_A/_V_Bus + .5f;
benkatz 5:51c6560bf624 16 float DTC_B = V_B/_V_Bus + .5f;
benkatz 5:51c6560bf624 17 float DTC_C = V_C/_V_Bus + .5f;
benkatz 0:4e1c4df6aabd 18
benkatz 0:4e1c4df6aabd 19 if(DTC_A > .95f) DTC_A = .95f;
benkatz 0:4e1c4df6aabd 20 else if(DTC_A < .05f) DTC_A = .05f;
benkatz 0:4e1c4df6aabd 21 if(DTC_B > .95f) DTC_B = .95f;
benkatz 0:4e1c4df6aabd 22 else if(DTC_B < .05f) DTC_B = .05f;
benkatz 0:4e1c4df6aabd 23 if(DTC_C > .95f) DTC_C = .95f;
benkatz 0:4e1c4df6aabd 24 else if(DTC_C < .05f) DTC_C = .05f;
benkatz 0:4e1c4df6aabd 25 _inverter->SetDTC(DTC_A, DTC_B, DTC_C);
benkatz 5:51c6560bf624 26 }
benkatz 5:51c6560bf624 27
benkatz 5:51c6560bf624 28 SVPWM::SVPWM(Inverter *inverter, float V_Bus){
benkatz 5:51c6560bf624 29 _inverter = inverter;
benkatz 5:51c6560bf624 30 _V_Bus = V_Bus;
benkatz 5:51c6560bf624 31 }
benkatz 5:51c6560bf624 32
benkatz 10:370851e6e132 33 //space vector pwm (better bus utilization)
benkatz 5:51c6560bf624 34 void SVPWM::Update_DTC(float V_A, float V_B, float V_C){
benkatz 6:4ee1cdc43aa8 35
benkatz 6:4ee1cdc43aa8 36 float Voff = (min(V_A, V_B, V_C) + max(V_A, V_B, V_C))/2.0f;
benkatz 6:4ee1cdc43aa8 37
benkatz 6:4ee1cdc43aa8 38 V_A = V_A - Voff;
benkatz 6:4ee1cdc43aa8 39 V_B = V_B - Voff;
benkatz 6:4ee1cdc43aa8 40 V_C = V_C - Voff;
benkatz 6:4ee1cdc43aa8 41
benkatz 5:51c6560bf624 42 float DTC_A = V_A/_V_Bus + .5f;
benkatz 5:51c6560bf624 43 float DTC_B = V_B/_V_Bus + .5f;
benkatz 5:51c6560bf624 44 float DTC_C = V_C/_V_Bus + .5f;
benkatz 5:51c6560bf624 45
benkatz 6:4ee1cdc43aa8 46
benkatz 6:4ee1cdc43aa8 47
benkatz 5:51c6560bf624 48 if(DTC_A > .95f) DTC_A = .95f;
benkatz 5:51c6560bf624 49 else if(DTC_A < .05f) DTC_A = .05f;
benkatz 5:51c6560bf624 50 if(DTC_B > .95f) DTC_B = .95f;
benkatz 5:51c6560bf624 51 else if(DTC_B < .05f) DTC_B = .05f;
benkatz 5:51c6560bf624 52 if(DTC_C > .95f) DTC_C = .95f;
benkatz 5:51c6560bf624 53 else if(DTC_C < .05f) DTC_C = .05f;
benkatz 5:51c6560bf624 54 _inverter->SetDTC(DTC_A, DTC_B, DTC_C);
benkatz 5:51c6560bf624 55 }
benkatz 5:51c6560bf624 56