Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

CurrentRegulator/CurrentRegulator.cpp@2:8724412ad628, 2016-02-19 (annotated)

Committer:
benkatz
Date:
Fri Feb 19 04:13:06 2016 +0000
Revision:
2:8724412ad628
Parent:
1:b8bceb4daed5
Child:
3:6a0015d88d06
now uses TIM1 for PWM - makes layout for micro-on-board version much easier

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1 #include "Transforms.h"
benkatz 0:4e1c4df6aabd 2 #include "CurrentRegulator.h"
benkatz 0:4e1c4df6aabd 3 #include "Inverter.h"
benkatz 0:4e1c4df6aabd 4 #include "SVM.h"
benkatz 0:4e1c4df6aabd 5 #include "Transforms.h"
benkatz 0:4e1c4df6aabd 6 #include "PositionSensor.h"
benkatz 0:4e1c4df6aabd 7
benkatz 0:4e1c4df6aabd 8 using namespace Transforms;
benkatz 0:4e1c4df6aabd 9
benkatz 0:4e1c4df6aabd 10 CurrentRegulator::CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, float Kp, float Ki){
benkatz 0:4e1c4df6aabd 11 _Inverter = inverter;
benkatz 0:4e1c4df6aabd 12 PWM = new SPWM(inverter, 2.0);
benkatz 0:4e1c4df6aabd 13 _PositionSensor = position_sensor;
benkatz 2:8724412ad628 14 IQ_Ref = 5;
benkatz 0:4e1c4df6aabd 15 ID_Ref = 0;
benkatz 0:4e1c4df6aabd 16 V_Q = 0;
benkatz 0:4e1c4df6aabd 17 V_D = 0;
benkatz 0:4e1c4df6aabd 18 V_Alpha = 0;
benkatz 0:4e1c4df6aabd 19 V_Beta = 0;
benkatz 0:4e1c4df6aabd 20 I_Q = 0;
benkatz 0:4e1c4df6aabd 21 I_D = 0;
benkatz 0:4e1c4df6aabd 22 I_A = 0;
benkatz 0:4e1c4df6aabd 23 I_B = 0;
benkatz 0:4e1c4df6aabd 24 I_C = 0;
benkatz 0:4e1c4df6aabd 25 I_Alpha = 0;
benkatz 0:4e1c4df6aabd 26 I_Beta = 0;
benkatz 1:b8bceb4daed5 27 //count = 0;
benkatz 0:4e1c4df6aabd 28 _Kp = Kp;
benkatz 0:4e1c4df6aabd 29 _Ki = Ki;
benkatz 0:4e1c4df6aabd 30 Q_Integral = 0;
benkatz 0:4e1c4df6aabd 31 D_Integral = 0;
benkatz 0:4e1c4df6aabd 32 Int_Max = .9;
benkatz 2:8724412ad628 33 DTC_Max = .97;
benkatz 0:4e1c4df6aabd 34 //theta_elec = _PositionSensor->GetElecPosition();
benkatz 0:4e1c4df6aabd 35
benkatz 0:4e1c4df6aabd 36 }
benkatz 0:4e1c4df6aabd 37
benkatz 0:4e1c4df6aabd 38 void CurrentRegulator::UpdateRef(float D, float Q){
benkatz 0:4e1c4df6aabd 39 IQ_Ref = Q;
benkatz 0:4e1c4df6aabd 40 ID_Ref = D;
benkatz 0:4e1c4df6aabd 41 }
benkatz 0:4e1c4df6aabd 42
benkatz 0:4e1c4df6aabd 43 void CurrentRegulator::SampleCurrent(){
benkatz 0:4e1c4df6aabd 44 _Inverter->GetCurrent(&I_A, &I_B, &I_C);
benkatz 0:4e1c4df6aabd 45 Clarke(I_A, I_B, &I_Alpha, &I_Beta);
benkatz 0:4e1c4df6aabd 46 Park(I_Alpha, I_Beta, theta_elec, &I_D, &I_Q);
benkatz 1:b8bceb4daed5 47 //count += 1;
benkatz 1:b8bceb4daed5 48 //if(count > 10000) {
benkatz 1:b8bceb4daed5 49 // count=0;
benkatz 0:4e1c4df6aabd 50 // printf("I_A: %f I_C: %f I_C: %f\n\r", I_A, I_B, I_C);
benkatz 1:b8bceb4daed5 51 //IQ_Ref = -IQ_Ref;
benkatz 1:b8bceb4daed5 52 // }
benkatz 0:4e1c4df6aabd 53
benkatz 0:4e1c4df6aabd 54 DAC->DHR12R1 = (int) (I_Q*490.648f) + 2048;
benkatz 0:4e1c4df6aabd 55 //DAC->DHR12R1 = (int) (I_Alpha*4096.0f) + 2048;
benkatz 0:4e1c4df6aabd 56 }
benkatz 0:4e1c4df6aabd 57
benkatz 0:4e1c4df6aabd 58 void CurrentRegulator::Update(){
benkatz 0:4e1c4df6aabd 59 float Q_Error = IQ_Ref - I_Q;
benkatz 0:4e1c4df6aabd 60 float D_Error = ID_Ref - I_D;
benkatz 0:4e1c4df6aabd 61
benkatz 0:4e1c4df6aabd 62 Q_Integral += Q_Error*_Ki*_Kp;
benkatz 0:4e1c4df6aabd 63 D_Integral += D_Error*_Ki*_Kp;
benkatz 0:4e1c4df6aabd 64
benkatz 0:4e1c4df6aabd 65 if (Q_Integral > Int_Max) Q_Integral = Int_Max;
benkatz 2:8724412ad628 66 else if(Q_Integral < -Int_Max) Q_Integral = -Int_Max;
benkatz 0:4e1c4df6aabd 67 if (D_Integral > Int_Max) D_Integral = Int_Max;
benkatz 2:8724412ad628 68 else if(D_Integral < -Int_Max) D_Integral = -Int_Max;
benkatz 0:4e1c4df6aabd 69
benkatz 0:4e1c4df6aabd 70 V_Q = Q_Integral + _Kp*Q_Error;
benkatz 0:4e1c4df6aabd 71 V_D = D_Integral + _Kp*D_Error;
benkatz 0:4e1c4df6aabd 72 }
benkatz 0:4e1c4df6aabd 73
benkatz 0:4e1c4df6aabd 74 void CurrentRegulator::SetVoltage(){
benkatz 0:4e1c4df6aabd 75 InvPark(V_D, V_Q, theta_elec, &V_Alpha, &V_Beta);
benkatz 0:4e1c4df6aabd 76 PWM->Update_DTC(V_Alpha, V_Beta);
benkatz 0:4e1c4df6aabd 77 }
benkatz 0:4e1c4df6aabd 78
benkatz 0:4e1c4df6aabd 79
benkatz 0:4e1c4df6aabd 80 void CurrentRegulator::Commutate(){
benkatz 0:4e1c4df6aabd 81 theta_elec = _PositionSensor->GetElecPosition();
benkatz 1:b8bceb4daed5 82 SampleCurrent(); //Grab most recent current sample
benkatz 1:b8bceb4daed5 83 Update(); //Run control loop
benkatz 1:b8bceb4daed5 84 SetVoltage(); //Set inverter duty cycles
benkatz 0:4e1c4df6aabd 85 }