Ben Katz
auto-measurements
Dependencies: FastPWM3 mbed-dev
Fork of
Hobbyking_Cheetah_Compact
by 
Ben Katz
Diff: FOC/foc.cpp
- Revision:
- 26:2b865c00d7e9
- Parent:
- 25:f5741040c4bb
- Child:
- 27:501fee691e0e
--- a/FOC/foc.cpp Sun Apr 09 03:05:52 2017 +0000
+++ b/FOC/foc.cpp Mon May 01 15:22:58 2017 +0000
@@ -1,8 +1,8 @@
#include "user_config.h"
#include "foc.h"
-//#include "FastMath.h"
-//using namespace FastMath;
+#include "FastMath.h"
+using namespace FastMath;
void abc( float theta, float d, float q, float *a, float *b, float *c){
@@ -10,18 +10,22 @@
///Phase current amplitude = lengh of dq vector///
///i.e. iq = 1, id = 0, peak phase current of 1///
- *a = d*cosf(-theta) + q*sinf(-theta);
- *b = d*cosf((2.0f*PI/3.0f)-theta) + q*sinf((2.0f*PI/3.0f)-theta);
- *c = d*cosf((-2.0f*PI/3.0f)-theta) + q*sinf((-2.0f*PI/3.0f)-theta);
+ *a = d*cosf(theta) - q*sinf(theta);
+ *b = d*cosf(theta - (2.0f*PI/3.0f)) - q*sinf(theta - (2.0f*PI/3.0f));
+ *c = d*cosf(theta + (2.0f*PI/3.0f)) - q*sinf(theta +(2.0f*PI/3.0f));
}
+
void dq0(float theta, float a, float b, float c, float *d, float *q){
/// DQ0 Transform ///
///Phase current amplitude = lengh of dq vector///
///i.e. iq = 1, id = 0, peak phase current of 1///
- *d = (2.0f/3.0f)*(a*cosf(-theta) + b*cosf((2.0f*PI/3.0f)-theta) + c*cosf((-2.0f*PI/3.0f)-theta));
- *q = (2.0f/3.0f)*(a*sinf(-theta) + b*sinf((2.0f*PI/3.0f)-theta) + c*sinf((-2.0f*PI/3.0f)-theta));
+ //float cos = cosf(theta);
+ //float sin = sinf(theta);
+
+ *d = (2.0f/3.0f)*(a*cosf(theta) + b*cosf(theta - (2.0f*PI/3.0f)) + c*cosf(theta + (2.0f*PI/3.0f)));
+ *q = (2.0f/3.0f)*(-a*sinf(theta) - b*sinf(theta - (2.0f*PI/3.0f)) - c*sinf(theta + (2.0f*PI/3.0f)));
}
void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
@@ -31,7 +35,7 @@
float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f;
*dtc_u = fminf(fmaxf(((u - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);
*dtc_v = fminf(fmaxf(((v - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);
- *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);
+ *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + ((DTC_MAX-DTC_MIN)/2)), DTC_MIN), DTC_MAX);
}
@@ -40,7 +44,10 @@
int adc2_offset = 0;
int n = 1024;
for (int i = 0; i<n; i++){ // Average n samples of the ADC
- ADC1->CR2 |= 0x40000000;
+ TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
+ TIM1->CCR2 = 0x708*(1.0f);
+ TIM1->CCR1 = 0x708*(1.0f);
+ ADC1->CR2 |= 0x40000000; // Begin sample and conversion
wait(.001);
adc2_offset += ADC2->DR;
adc1_offset += ADC1->DR;
@@ -57,6 +64,7 @@
void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta){
/// Commutation Loop ///
+
controller->loop_count ++;
if(PHASE_ORDER){ // Check current sensor ordering
controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); // Calculate phase currents from ADC readings
@@ -66,19 +74,23 @@
controller->i_b = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
controller->i_c = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);
}
- controller->i_a = -controller->i_b - controller->i_c;
- dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ controller->i_a = -controller->i_b - controller->i_c;
+ float s = FastSin(theta);
+ float c = FastCos(theta);
+ //dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ controller->i_d = 0.6666667f*(c*controller->i_a + (0.86602540378f*s-.5f*c)*controller->i_b + (-0.86602540378f*s-.5f*c)*controller->i_c); ///Fast DQ0 Transform
+ controller->i_q = 0.6666667f*(-s*controller->i_a - (-0.86602540378f*c-.5f*s)*controller->i_b - (0.86602540378f*c-.5f*s)*controller->i_c);
///Cogging compensation lookup, doesn't actually work yet///
//int ind = theta * (128.0f/(2.0f*PI));
//float cogging_current = controller->cogging[ind];
- //float cogging_current = 1.0f*cos(6*theta);
+ float cogging_current = 0.05f*s*controller->i_q_ref;
/// PI Controller ///
float i_d_error = controller->i_d_ref - controller->i_d;
float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current;
float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE); //feed-forward voltage
- float v_q_ff = 2.0f*(2*controller->i_q_ref*R_PHASE + controller->dtheta_elec*WB*0.8165f);
+ float v_q_ff = controller->dtheta_elec*WB*1.73205081;
controller->d_int += i_d_error;
controller->q_int += i_q_error;
@@ -86,10 +98,6 @@
//v_q_ff = 0;
limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_Q*KI_Q)); // Limit integrators to prevent windup
- //controller->d_int = fminf(fmaxf(controller->d_int, -D_INT_LIM), D_INT_LIM);
- //controller->q_int = fminf(fmaxf(controller->q_int, -Q_INT_LIM), Q_INT_LIM);
-
-
controller->v_d = K_SCALE*I_BW*i_d_error + K_SCALE*I_BW*controller->d_int;// + v_d_ff;
controller->v_q = K_SCALE*I_BW*i_q_error + K_SCALE*I_BW*controller->q_int;// + v_q_ff;
@@ -97,7 +105,11 @@
//controller->v_q = v_q_ff;
limit_norm(&controller->v_d, &controller->v_q, controller->v_bus); // Normalize voltage vector to lie within curcle of radius v_bus
- abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
+ //abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
+
+ controller->v_u = c*controller->v_d - s*controller->v_q;
+ controller->v_v = (0.86602540378f*s-.5f*c)*controller->v_d - (-0.86602540378f*c-.5f*s)*controller->v_q;
+ controller->v_w = (-0.86602540378f*s-.5f*c)*controller->v_d - (0.86602540378f*c-.5f*s)*controller->v_q;
svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
@@ -115,17 +127,27 @@
controller->theta_elec = theta; //For some reason putting this at the front breaks thins
- //if(controller->loop_count >400){
+ if(controller->loop_count >400){
//controller->i_q_ref = -controller->i_q_ref;
- // controller->loop_count = 0;
+ controller->loop_count = 0;
- //printf("%d %f\n\r", ind, cogging_current);
+ //printf("%.1f %.1f %.1f %.1f %.1f\n\r", controller->i_d, controller->i_q, controller->v_d, controller->v_q, controller->dtheta_mech);
//printf("%f\n\r", controller->theta_elec);
//pc.printf("%f %f %f\n\r", controller->i_a, controller->i_b, controller->i_c);
//pc.printf("%f %f\n\r", controller->i_d, controller->i_q);
//pc.printf("%d %d\n\r", controller->adc1_raw, controller->adc2_raw);
- // }
+ }
}
+
+
+void torque_control(ControllerStruct *controller){
+ float torque_ref = -controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff;// + controller->kd*(controller->v_des - GR*controller->dtheta_mech);
+ //float torque_ref = -.1*(controller->p_des - controller->theta_mech);
+ controller->i_q_ref = torque_ref/KT_OUT;
+ controller->i_d_ref = 0;
+ }
+
+
/*
void zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){