Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

CurrentRegulator/CurrentRegulator.cpp@9:d7eb815cb057, 2016-05-10 (annotated)

Committer:
benkatz
Date:
Tue May 10 01:15:57 2016 +0000
Revision:
9:d7eb815cb057
Parent:
8:10ae7bc88d6e
Child:
11:c83b18d41e54
Fixed current scaling hack

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 7:dc5f27756e02 12 PWM = new SPWM(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 4:c023f7b6f462 48
benkatz 9:d7eb815cb057 49 void CurrentRegulator::Reset(void){
benkatz 9:d7eb815cb057 50 IQ_Ref = 0;
benkatz 9:d7eb815cb057 51 ID_Ref = 0;
benkatz 9:d7eb815cb057 52 V_Q = 0;
benkatz 9:d7eb815cb057 53 V_D = 0;
benkatz 9:d7eb815cb057 54 V_Alpha = 0;
benkatz 9:d7eb815cb057 55 V_Beta = 0;
benkatz 9:d7eb815cb057 56 V_A = 0;
benkatz 9:d7eb815cb057 57 V_B = 0;
benkatz 9:d7eb815cb057 58 V_C = 0;
benkatz 9:d7eb815cb057 59 I_Q = 0;
benkatz 9:d7eb815cb057 60 I_D = 0;
benkatz 9:d7eb815cb057 61 I_A = 0;
benkatz 9:d7eb815cb057 62 I_B = 0;
benkatz 9:d7eb815cb057 63 I_C = 0;
benkatz 9:d7eb815cb057 64 I_Alpha = 0;
benkatz 9:d7eb815cb057 65 I_Beta = 0;
benkatz 9:d7eb815cb057 66 //pc->printf("%f, %f\n\r", Q_Integral, D_Integral);
benkatz 9:d7eb815cb057 67 wait(.03);
benkatz 9:d7eb815cb057 68 Q_Integral = 0;
benkatz 9:d7eb815cb057 69 D_Integral = 0;
benkatz 9:d7eb815cb057 70 }
benkatz 9:d7eb815cb057 71
benkatz 0:4e1c4df6aabd 72 void CurrentRegulator::UpdateRef(float D, float Q){
benkatz 9:d7eb815cb057 73 if(Q>Q_Max){
benkatz 9:d7eb815cb057 74 Q = Q_Max;
benkatz 9:d7eb815cb057 75 }
benkatz 9:d7eb815cb057 76 else if(Q<-Q_Max){
benkatz 9:d7eb815cb057 77 Q = -Q_Max;
benkatz 9:d7eb815cb057 78 }
benkatz 9:d7eb815cb057 79 if(D>Q_Max){
benkatz 9:d7eb815cb057 80 D = Q_Max;
benkatz 9:d7eb815cb057 81 }
benkatz 9:d7eb815cb057 82 else if(D<-Q_Max){
benkatz 9:d7eb815cb057 83 D = -Q_Max;
benkatz 9:d7eb815cb057 84 }
benkatz 0:4e1c4df6aabd 85 IQ_Ref = Q;
benkatz 0:4e1c4df6aabd 86 ID_Ref = D;
benkatz 0:4e1c4df6aabd 87 }
benkatz 0:4e1c4df6aabd 88
benkatz 0:4e1c4df6aabd 89 void CurrentRegulator::SampleCurrent(){
benkatz 0:4e1c4df6aabd 90 _Inverter->GetCurrent(&I_A, &I_B, &I_C);
benkatz 0:4e1c4df6aabd 91 Clarke(I_A, I_B, &I_Alpha, &I_Beta);
benkatz 0:4e1c4df6aabd 92 Park(I_Alpha, I_Beta, theta_elec, &I_D, &I_Q);
benkatz 1:b8bceb4daed5 93 //count += 1;
benkatz 1:b8bceb4daed5 94 //if(count > 10000) {
benkatz 1:b8bceb4daed5 95 // count=0;
benkatz 0:4e1c4df6aabd 96 // printf("I_A: %f I_C: %f I_C: %f\n\r", I_A, I_B, I_C);
benkatz 1:b8bceb4daed5 97 //IQ_Ref = -IQ_Ref;
benkatz 1:b8bceb4daed5 98 // }
benkatz 0:4e1c4df6aabd 99
benkatz 4:c023f7b6f462 100 //DAC->DHR12R1 = (int) (I_Q*490.648f) + 2048;
benkatz 0:4e1c4df6aabd 101 //DAC->DHR12R1 = (int) (I_Alpha*4096.0f) + 2048;
benkatz 0:4e1c4df6aabd 102 }
benkatz 0:4e1c4df6aabd 103
benkatz 0:4e1c4df6aabd 104 void CurrentRegulator::Update(){
benkatz 0:4e1c4df6aabd 105 float Q_Error = IQ_Ref - I_Q;
benkatz 0:4e1c4df6aabd 106 float D_Error = ID_Ref - I_D;
benkatz 0:4e1c4df6aabd 107
benkatz 0:4e1c4df6aabd 108 Q_Integral += Q_Error*_Ki*_Kp;
benkatz 0:4e1c4df6aabd 109 D_Integral += D_Error*_Ki*_Kp;
benkatz 0:4e1c4df6aabd 110
benkatz 0:4e1c4df6aabd 111 if (Q_Integral > Int_Max) Q_Integral = Int_Max;
benkatz 2:8724412ad628 112 else if(Q_Integral < -Int_Max) Q_Integral = -Int_Max;
benkatz 0:4e1c4df6aabd 113 if (D_Integral > Int_Max) D_Integral = Int_Max;
benkatz 2:8724412ad628 114 else if(D_Integral < -Int_Max) D_Integral = -Int_Max;
benkatz 0:4e1c4df6aabd 115
benkatz 0:4e1c4df6aabd 116 V_Q = Q_Integral + _Kp*Q_Error;
benkatz 9:d7eb815cb057 117 V_D = D_Integral + _Kp*D_Error;
benkatz 0:4e1c4df6aabd 118 }
benkatz 0:4e1c4df6aabd 119
benkatz 0:4e1c4df6aabd 120 void CurrentRegulator::SetVoltage(){
benkatz 0:4e1c4df6aabd 121 InvPark(V_D, V_Q, theta_elec, &V_Alpha, &V_Beta);
benkatz 5:51c6560bf624 122 InvClarke(V_Alpha, V_Beta, &V_A, &V_B, &V_C);
benkatz 5:51c6560bf624 123 PWM->Update_DTC(V_A, V_B, V_C);
benkatz 0:4e1c4df6aabd 124 }
benkatz 0:4e1c4df6aabd 125
benkatz 0:4e1c4df6aabd 126
benkatz 0:4e1c4df6aabd 127 void CurrentRegulator::Commutate(){
benkatz 9:d7eb815cb057 128 //count += 1;
benkatz 9:d7eb815cb057 129 //GPIOC->ODR = (1 << 4); //Toggle pin for debugging
benkatz 0:4e1c4df6aabd 130 theta_elec = _PositionSensor->GetElecPosition();
benkatz 8:10ae7bc88d6e 131 _PositionSensor->GetMechPosition();
benkatz 1:b8bceb4daed5 132 SampleCurrent(); //Grab most recent current sample
benkatz 1:b8bceb4daed5 133 Update(); //Run control loop
benkatz 1:b8bceb4daed5 134 SetVoltage(); //Set inverter duty cycles
benkatz 9:d7eb815cb057 135 //GPIOC->ODR = (0 << 4); //Toggle pin for debugging
benkatz 7:dc5f27756e02 136
benkatz 4:c023f7b6f462 137 /*
benkatz 8:10ae7bc88d6e 138 if (count==1000){
benkatz 8:10ae7bc88d6e 139 pc->printf("%f\n\r", _PositionSensor->GetMechPosition());
benkatz 4:c023f7b6f462 140 count = 0;
benkatz 4:c023f7b6f462 141 }
benkatz 9:d7eb815cb057 142 */
benkatz 8:10ae7bc88d6e 143
benkatz 0:4e1c4df6aabd 144 }