Ben Katz
/
Hobbyking_Cheetah_V1
FOC Implementation for putting multirotor motors in robots
CurrentRegulator/CurrentRegulator.cpp@1:b8bceb4daed5, 2016-02-05 (annotated)
- Committer:
- benkatz
- Date:
- Fri Feb 05 01:04:57 2016 +0000
- Revision:
- 1:b8bceb4daed5
- Parent:
- 0:4e1c4df6aabd
- Child:
- 2:8724412ad628
Added some comments, cleaned things up a bit
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:4e1c4df6aabd | 14 | IQ_Ref = .7; |
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 | 0:4e1c4df6aabd | 33 | DTC_Max = .95; |
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 | 0:4e1c4df6aabd | 66 | else if(D_Integral < -Int_Max) D_Integral = Int_Max; |
benkatz | 0:4e1c4df6aabd | 67 | if (D_Integral > Int_Max) D_Integral = Int_Max; |
benkatz | 0:4e1c4df6aabd | 68 | else if(Q_Integral < -Int_Max) Q_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 | } |