Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

CurrentRegulator/CurrentRegulator.cpp@11:c83b18d41e54, 2016-05-22 (annotated)

Committer:
benkatz
Date:
Sun May 22 00:14:59 2016 +0000
Revision:
11:c83b18d41e54
Parent:
9:d7eb815cb057
Child:
12:c473a25f54f7
summer cleaning;

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