Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Optimize/Optimize.cpp@31:ebe42589ab9d, 2016-11-10 (annotated)

Committer:
bwang
Date:
Thu Nov 10 14:43:25 2016 +0000
Revision:
31:ebe42589ab9d
Child:
32:b31423041c4e
added IPM optimization code, commented out decoupling

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 31:ebe42589ab9d 1 #include <math.h>
bwang 31:ebe42589ab9d 2
bwang 31:ebe42589ab9d 3 #include "config_motor.h"
bwang 31:ebe42589ab9d 4 #include "Optimize.h"
bwang 31:ebe42589ab9d 5 #include "optimize_constants.h"
bwang 31:ebe42589ab9d 6
bwang 31:ebe42589ab9d 7 void get_ipm_dq(float tau, float *d, float *q) {
bwang 31:ebe42589ab9d 8 float tau2 = tau * tau;
bwang 31:ebe42589ab9d 9 float alpha = val_alpha(tau, tau2);
bwang 31:ebe42589ab9d 10 float u = fastsqrtf(cA * tau2 / alpha + cB * alpha);
bwang 31:ebe42589ab9d 11 float v = fastsqrtf(cC * tau2 / alpha + cD * alpha + cE * tau / u);
bwang 31:ebe42589ab9d 12 *q = cU * u + cV * v;
bwang 31:ebe42589ab9d 13 *d = (-3 * *q * POLE_PAIRS * FLUX_LINKAGE + 2 * tau) / (3 * *q * Lx * POLE_PAIRS);
bwang 31:ebe42589ab9d 14 }
bwang 31:ebe42589ab9d 15
bwang 31:ebe42589ab9d 16 float val_alpha(float tau, float tau2) {
bwang 31:ebe42589ab9d 17 float tau23 = fastcubertf(tau2);
bwang 31:ebe42589ab9d 18 if (tau < TAU0) {
bwang 31:ebe42589ab9d 19 return tau23 * K1_13 * (c0 + c2 * tau2 + c4 * tau2 * tau2);
bwang 31:ebe42589ab9d 20 }
bwang 31:ebe42589ab9d 21 else {
bwang 31:ebe42589ab9d 22 return s0 + s1 * (tau - TAU0);
bwang 31:ebe42589ab9d 23 }
bwang 31:ebe42589ab9d 24
bwang 31:ebe42589ab9d 25 }
bwang 31:ebe42589ab9d 26
bwang 31:ebe42589ab9d 27 float fastsqrtf(float x) {
bwang 31:ebe42589ab9d 28 return sqrtf(x);
bwang 31:ebe42589ab9d 29 }
bwang 31:ebe42589ab9d 30
bwang 31:ebe42589ab9d 31 float fastcubertf(float x) {
bwang 31:ebe42589ab9d 32 return powf(x, 1 / 3.f);
bwang 31:ebe42589ab9d 33 }