Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

CurrentRegulator/CurrentRegulator.cpp@12:c473a25f54f7, 2016-05-22 (annotated)

Committer:
benkatz
Date:
Sun May 22 03:38:19 2016 +0000
Revision:
12:c473a25f54f7
Parent:
11:c83b18d41e54
Child:
13:a3fa0a31b114
experimental feed-forward decoupling;

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 12:c473a25f54f7 10 CurrentRegulator::CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, PositionSensor *velocity_sensor, float L, float Kp, float Ki){
benkatz 0:4e1c4df6aabd 11 _Inverter = inverter;
benkatz 11:c83b18d41e54 12 PWM = new SVPWM(inverter, 2.0);
benkatz 0:4e1c4df6aabd 13 _PositionSensor = position_sensor;
benkatz 12:c473a25f54f7 14 _VelocitySensor = velocity_sensor;
benkatz 8:10ae7bc88d6e 15 IQ_Ref = 0;
benkatz 9:d7eb815cb057 16 Q_Max = 40.0f;
benkatz 0:4e1c4df6aabd 17 ID_Ref = 0;
benkatz 0:4e1c4df6aabd 18 V_Q = 0;
benkatz 0:4e1c4df6aabd 19 V_D = 0;
benkatz 0:4e1c4df6aabd 20 V_Alpha = 0;
benkatz 0:4e1c4df6aabd 21 V_Beta = 0;
benkatz 5:51c6560bf624 22 V_A = 0;
benkatz 5:51c6560bf624 23 V_B = 0;
benkatz 5:51c6560bf624 24 V_C = 0;
benkatz 0:4e1c4df6aabd 25 I_Q = 0;
benkatz 0:4e1c4df6aabd 26 I_D = 0;
benkatz 0:4e1c4df6aabd 27 I_A = 0;
benkatz 0:4e1c4df6aabd 28 I_B = 0;
benkatz 0:4e1c4df6aabd 29 I_C = 0;
benkatz 0:4e1c4df6aabd 30 I_Alpha = 0;
benkatz 0:4e1c4df6aabd 31 I_Beta = 0;
benkatz 8:10ae7bc88d6e 32 count = 0;
benkatz 12:c473a25f54f7 33 _L = L;
benkatz 0:4e1c4df6aabd 34 _Kp = Kp;
benkatz 0:4e1c4df6aabd 35 _Ki = Ki;
benkatz 0:4e1c4df6aabd 36 Q_Integral = 0;
benkatz 0:4e1c4df6aabd 37 D_Integral = 0;
benkatz 0:4e1c4df6aabd 38 Int_Max = .9;
benkatz 2:8724412ad628 39 DTC_Max = .97;
benkatz 0:4e1c4df6aabd 40 //theta_elec = _PositionSensor->GetElecPosition();
benkatz 9:d7eb815cb057 41 //pc = new Serial(PA_2, PA_3);
benkatz 9:d7eb815cb057 42 //pc->baud(115200);
benkatz 8:10ae7bc88d6e 43
benkatz 0:4e1c4df6aabd 44 }
benkatz 0:4e1c4df6aabd 45
benkatz 4:c023f7b6f462 46 void CurrentRegulator::SendSPI(){
benkatz 4:c023f7b6f462 47
benkatz 4:c023f7b6f462 48
benkatz 4:c023f7b6f462 49 }
benkatz 11:c83b18d41e54 50
benkatz 11:c83b18d41e54 51 float CurrentRegulator::GetQ(){
benkatz 11:c83b18d41e54 52 return I_Q;
benkatz 11:c83b18d41e54 53 }
benkatz 11:c83b18d41e54 54
benkatz 9:d7eb815cb057 55 void CurrentRegulator::Reset(void){
benkatz 9:d7eb815cb057 56 IQ_Ref = 0;
benkatz 9:d7eb815cb057 57 ID_Ref = 0;
benkatz 9:d7eb815cb057 58 V_Q = 0;
benkatz 9:d7eb815cb057 59 V_D = 0;
benkatz 9:d7eb815cb057 60 V_Alpha = 0;
benkatz 9:d7eb815cb057 61 V_Beta = 0;
benkatz 9:d7eb815cb057 62 V_A = 0;
benkatz 9:d7eb815cb057 63 V_B = 0;
benkatz 9:d7eb815cb057 64 V_C = 0;
benkatz 9:d7eb815cb057 65 I_Q = 0;
benkatz 9:d7eb815cb057 66 I_D = 0;
benkatz 9:d7eb815cb057 67 I_A = 0;
benkatz 9:d7eb815cb057 68 I_B = 0;
benkatz 9:d7eb815cb057 69 I_C = 0;
benkatz 9:d7eb815cb057 70 I_Alpha = 0;
benkatz 9:d7eb815cb057 71 I_Beta = 0;
benkatz 9:d7eb815cb057 72 //pc->printf("%f, %f\n\r", Q_Integral, D_Integral);
benkatz 9:d7eb815cb057 73 wait(.03);
benkatz 9:d7eb815cb057 74 Q_Integral = 0;
benkatz 9:d7eb815cb057 75 D_Integral = 0;
benkatz 9:d7eb815cb057 76 }
benkatz 9:d7eb815cb057 77
benkatz 0:4e1c4df6aabd 78 void CurrentRegulator::UpdateRef(float D, float Q){
benkatz 9:d7eb815cb057 79 if(Q>Q_Max){
benkatz 9:d7eb815cb057 80 Q = Q_Max;
benkatz 9:d7eb815cb057 81 }
benkatz 9:d7eb815cb057 82 else if(Q<-Q_Max){
benkatz 9:d7eb815cb057 83 Q = -Q_Max;
benkatz 9:d7eb815cb057 84 }
benkatz 9:d7eb815cb057 85 if(D>Q_Max){
benkatz 9:d7eb815cb057 86 D = Q_Max;
benkatz 9:d7eb815cb057 87 }
benkatz 9:d7eb815cb057 88 else if(D<-Q_Max){
benkatz 9:d7eb815cb057 89 D = -Q_Max;
benkatz 9:d7eb815cb057 90 }
benkatz 0:4e1c4df6aabd 91 IQ_Ref = Q;
benkatz 0:4e1c4df6aabd 92 ID_Ref = D;
benkatz 0:4e1c4df6aabd 93 }
benkatz 0:4e1c4df6aabd 94
benkatz 0:4e1c4df6aabd 95 void CurrentRegulator::SampleCurrent(){
benkatz 0:4e1c4df6aabd 96 _Inverter->GetCurrent(&I_A, &I_B, &I_C);
benkatz 0:4e1c4df6aabd 97 Clarke(I_A, I_B, &I_Alpha, &I_Beta);
benkatz 0:4e1c4df6aabd 98 Park(I_Alpha, I_Beta, theta_elec, &I_D, &I_Q);
benkatz 1:b8bceb4daed5 99 //count += 1;
benkatz 1:b8bceb4daed5 100 //if(count > 10000) {
benkatz 1:b8bceb4daed5 101 // count=0;
benkatz 0:4e1c4df6aabd 102 // printf("I_A: %f I_C: %f I_C: %f\n\r", I_A, I_B, I_C);
benkatz 1:b8bceb4daed5 103 //IQ_Ref = -IQ_Ref;
benkatz 1:b8bceb4daed5 104 // }
benkatz 0:4e1c4df6aabd 105
benkatz 4:c023f7b6f462 106 //DAC->DHR12R1 = (int) (I_Q*490.648f) + 2048;
benkatz 0:4e1c4df6aabd 107 //DAC->DHR12R1 = (int) (I_Alpha*4096.0f) + 2048;
benkatz 0:4e1c4df6aabd 108 }
benkatz 0:4e1c4df6aabd 109
benkatz 0:4e1c4df6aabd 110 void CurrentRegulator::Update(){
benkatz 0:4e1c4df6aabd 111 float Q_Error = IQ_Ref - I_Q;
benkatz 0:4e1c4df6aabd 112 float D_Error = ID_Ref - I_D;
benkatz 12:c473a25f54f7 113 float w_elec = _velocitySensor.GetElecVelocity();
benkatz 0:4e1c4df6aabd 114
benkatz 0:4e1c4df6aabd 115 Q_Integral += Q_Error*_Ki*_Kp;
benkatz 0:4e1c4df6aabd 116 D_Integral += D_Error*_Ki*_Kp;
benkatz 0:4e1c4df6aabd 117
benkatz 0:4e1c4df6aabd 118 if (Q_Integral > Int_Max) Q_Integral = Int_Max;
benkatz 2:8724412ad628 119 else if(Q_Integral < -Int_Max) Q_Integral = -Int_Max;
benkatz 0:4e1c4df6aabd 120 if (D_Integral > Int_Max) D_Integral = Int_Max;
benkatz 2:8724412ad628 121 else if(D_Integral < -Int_Max) D_Integral = -Int_Max;
benkatz 0:4e1c4df6aabd 122
benkatz 0:4e1c4df6aabd 123 V_Q = Q_Integral + _Kp*Q_Error;
benkatz 12:c473a25f54f7 124 //V_Q = V_Q - w_elec*I_D;
benkatz 12:c473a25f54f7 125 V_D = D_Integral + _Kp*D_Error;
benkatz 12:c473a25f54f7 126 //V_D = V_D + w_elec*I_Q; //decoupling needs moar testing
benkatz 0:4e1c4df6aabd 127 }
benkatz 0:4e1c4df6aabd 128
benkatz 0:4e1c4df6aabd 129 void CurrentRegulator::SetVoltage(){
benkatz 0:4e1c4df6aabd 130 InvPark(V_D, V_Q, theta_elec, &V_Alpha, &V_Beta);
benkatz 5:51c6560bf624 131 InvClarke(V_Alpha, V_Beta, &V_A, &V_B, &V_C);
benkatz 5:51c6560bf624 132 PWM->Update_DTC(V_A, V_B, V_C);
benkatz 0:4e1c4df6aabd 133 }
benkatz 0:4e1c4df6aabd 134
benkatz 0:4e1c4df6aabd 135
benkatz 0:4e1c4df6aabd 136 void CurrentRegulator::Commutate(){
benkatz 9:d7eb815cb057 137 //count += 1;
benkatz 9:d7eb815cb057 138 //GPIOC->ODR = (1 << 4); //Toggle pin for debugging
benkatz 0:4e1c4df6aabd 139 theta_elec = _PositionSensor->GetElecPosition();
benkatz 8:10ae7bc88d6e 140 _PositionSensor->GetMechPosition();
benkatz 1:b8bceb4daed5 141 SampleCurrent(); //Grab most recent current sample
benkatz 1:b8bceb4daed5 142 Update(); //Run control loop
benkatz 1:b8bceb4daed5 143 SetVoltage(); //Set inverter duty cycles
benkatz 9:d7eb815cb057 144 //GPIOC->ODR = (0 << 4); //Toggle pin for debugging
benkatz 7:dc5f27756e02 145
benkatz 4:c023f7b6f462 146 /*
benkatz 8:10ae7bc88d6e 147 if (count==1000){
benkatz 8:10ae7bc88d6e 148 pc->printf("%f\n\r", _PositionSensor->GetMechPosition());
benkatz 4:c023f7b6f462 149 count = 0;
benkatz 4:c023f7b6f462 150 }
benkatz 11:c83b18d41e54 151
benkatz 11:c83b18d41e54 152 }
benkatz 11:c83b18d41e54 153
benkatz 9:d7eb815cb057 154 */
benkatz 11:c83b18d41e54 155 }