Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Optimize/Optimize.cpp

Committer:
bwang
Date:
2016-11-10
Revision:
31:ebe42589ab9d
Child:
32:b31423041c4e

File content as of revision 31:ebe42589ab9d:

#include <math.h>

#include "config_motor.h"
#include "Optimize.h"
#include "optimize_constants.h"

void get_ipm_dq(float tau, float *d, float *q) {
    float tau2 = tau * tau;
    float alpha = val_alpha(tau, tau2);
    float u = fastsqrtf(cA * tau2 / alpha + cB * alpha);
    float v = fastsqrtf(cC * tau2 / alpha + cD * alpha + cE * tau / u);
    *q = cU * u + cV * v;
    *d = (-3 * *q * POLE_PAIRS * FLUX_LINKAGE + 2 * tau) / (3 * *q * Lx * POLE_PAIRS);
}

float val_alpha(float tau, float tau2) {
    float tau23 = fastcubertf(tau2);
    if (tau < TAU0) {
        return tau23 * K1_13 * (c0 + c2 * tau2 + c4 * tau2 * tau2);
    }
    else {
        return s0 + s1 * (tau - TAU0);
    }

}

float fastsqrtf(float x) {
    return sqrtf(x);
}

float fastcubertf(float x) {
    return powf(x, 1 / 3.f);
}