Bayley Wang / Mbed 2 deprecated priustroller

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Dependencies:   mbed

Fork of analoghalls5_5 by N K

loopdriver.cpp@3:0a2396597e0d, 2015-03-02 (annotated)

Committer:
bwang
Date:
Mon Mar 02 01:24:37 2015 +0000
Revision:
3:0a2396597e0d
Parent:
loopupdater.cpp@1:1f58bdcf2956
Child:
4:fdadf4a3577a
should turn moter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 1:1f58bdcf2956 1 #include "includes.h"
bwang 1:1f58bdcf2956 2 #include "core.h"
bwang 1:1f58bdcf2956 3 #include "sensors.h"
bwang 1:1f58bdcf2956 4 #include "meta.h"
bwang 3:0a2396597e0d 5 #include "lut.h"
bwang 1:1f58bdcf2956 6
bwang 3:0a2396597e0d 7 Inverter* LoopDriver::_inverter;
bwang 3:0a2396597e0d 8 Motor* LoopDriver::_motor;
bwang 3:0a2396597e0d 9 User* LoopDriver::_user;
bwang 3:0a2396597e0d 10 PidController* LoopDriver::_pid_d;
bwang 3:0a2396597e0d 11 PidController* LoopDriver::_pid_q;
bwang 3:0a2396597e0d 12 ReferenceSynthesizer* LoopDriver::_reference;
bwang 3:0a2396597e0d 13 Modulator* LoopDriver::_modulator;
bwang 3:0a2396597e0d 14
bwang 3:0a2396597e0d 15 LoopDriver::LoopDriver(Inverter *inverter, Motor *motor, User *user, PidController *pid_d,
bwang 3:0a2396597e0d 16 PidController *pid_q, Modulator *modulator, float max_phase_current, int update_frequency) {
bwang 3:0a2396597e0d 17 _inverter = inverter;
bwang 3:0a2396597e0d 18 _motor = motor;
bwang 3:0a2396597e0d 19 _user = user;
bwang 3:0a2396597e0d 20 _pid_d = pid_d;
bwang 3:0a2396597e0d 21 _pid_q = pid_q;
bwang 3:0a2396597e0d 22 _reference = new SynchronousReferenceSynthesizer(max_phase_current);;
bwang 3:0a2396597e0d 23 _modulator = modulator;
bwang 3:0a2396597e0d 24 _max_phase_current = max_phase_current;
bwang 3:0a2396597e0d 25 _update_frequency = update_frequency;
bwang 3:0a2396597e0d 26 }
bwang 3:0a2396597e0d 27
bwang 3:0a2396597e0d 28 void LoopDriver::Start() {
bwang 3:0a2396597e0d 29 _upd_ticker.attach_us(&update, 1000000 / _update_frequency);
bwang 3:0a2396597e0d 30 }
bwang 3:0a2396597e0d 31
bwang 3:0a2396597e0d 32 void LoopDriver::Clarke(float a, float b, float *alpha, float *beta) {
bwang 3:0a2396597e0d 33 *alpha = a;
bwang 3:0a2396597e0d 34 *beta = 1.0f / sqrt(3.0f) * a + 2.0f / sqrt(3.0f) * b;
bwang 3:0a2396597e0d 35 }
bwang 3:0a2396597e0d 36
bwang 3:0a2396597e0d 37 void LoopDriver::Parke(float alpha, float beta, float theta, float *d, float *q) {
bwang 3:0a2396597e0d 38 float cos = LutCos(theta);
bwang 3:0a2396597e0d 39 float sin = LutSin(theta);
bwang 3:0a2396597e0d 40 *d = alpha * cos + beta * sin;
bwang 3:0a2396597e0d 41 *q = -alpha * sin + beta * cos;
bwang 3:0a2396597e0d 42 }
bwang 3:0a2396597e0d 43
bwang 3:0a2396597e0d 44 void LoopDriver::InverseParke(float d, float q, float theta, float *alpha, float *beta) {
bwang 3:0a2396597e0d 45 float cos = LutCos(theta);
bwang 3:0a2396597e0d 46 float sin = LutSin(theta);
bwang 3:0a2396597e0d 47 *alpha = cos * d - sin * q;
bwang 3:0a2396597e0d 48 *beta = sin * d + cos * q;
bwang 3:0a2396597e0d 49 }
bwang 3:0a2396597e0d 50
bwang 3:0a2396597e0d 51 float LoopDriver::LutSin(float theta) {
bwang 3:0a2396597e0d 52 if (theta < 0.0f) theta += 360.0f;
bwang 3:0a2396597e0d 53 if (theta >= 360.0f) theta -= 360.0f;
bwang 3:0a2396597e0d 54 return sinetab[(int) theta];
bwang 3:0a2396597e0d 55 }
bwang 3:0a2396597e0d 56
bwang 3:0a2396597e0d 57 float LoopDriver::LutCos(float theta) {
bwang 3:0a2396597e0d 58 return LutSin(90.0f - theta);
bwang 3:0a2396597e0d 59 }
bwang 3:0a2396597e0d 60
bwang 3:0a2396597e0d 61 void LoopDriver::update() {
bwang 3:0a2396597e0d 62 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
bwang 3:0a2396597e0d 63 Clarke(_motor->I_a, _motor->I_b, &alpha, &beta);
bwang 3:0a2396597e0d 64 Parke(alpha, beta, _motor->angle, &d, &q);
bwang 3:0a2396597e0d 65 _reference->GetReference(_motor->angle, &ref_d, &ref_q);
bwang 3:0a2396597e0d 66 float vd = _pid_d->Update(ref_d, d);
bwang 3:0a2396597e0d 67 float vq = _pid_q->Update(ref_q, q);
bwang 3:0a2396597e0d 68 InverseParke(vd, vq, _motor->angle, &valpha, &vbeta);
bwang 3:0a2396597e0d 69 }