Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

meta/modulators.cpp@35:83cf9564bd0c, 2015-03-16 (annotated)

Committer:
bwang
Date:
Mon Mar 16 15:40:07 2015 +0000
Revision:
35:83cf9564bd0c
Parent:
23:7366022ea0ab 
Set for 3A Iq, 0A Id, Ki = 1e-3, Kp = Kd = 0, loop still oscillates but is passable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "core.h"
bwang 11:dccbaa9274c5 3 #include "meta.h"
bwang 14:1cc975207995 4 #include "fastmath.h"
bwang 14:1cc975207995 5 #include "transforms.h"
bwang 11:dccbaa9274c5 6
bwang 20:3a7eae543153 7 void SinusoidalModulator::Update(float valpha, float vbeta) {
bwang 13:79e247e54d78 8 //--hack to make duty cycles positive
bwang 20:3a7eae543153 9 float dtcA = valpha;
bwang 20:3a7eae543153 10 float dtcB = ((-valpha + sqrt(3.0f) * vbeta) / 2.0f);
bwang 20:3a7eae543153 11 float dtcC = ((-valpha - sqrt(3.0f) * vbeta) / 2.0f);
bwang 13:79e247e54d78 12 _inverter->SetDtcA(dtcA * 0.5f + 0.5f);
bwang 13:79e247e54d78 13 _inverter->SetDtcB(dtcB * 0.5f + 0.5f);
bwang 13:79e247e54d78 14 _inverter->SetDtcC(dtcC * 0.5f + 0.5f);
bwang 14:1cc975207995 15 }
bwang 14:1cc975207995 16
bwang 14:1cc975207995 17 void SvmModulator::Update(float valpha, float vbeta) {
bwang 23:7366022ea0ab 18 float va, vb;
nki 22:46d164aa4f1c 19 InverseClarke(valpha, vbeta, &va, &vb);
bwang 19:280c62c71cf8 20
bwang 23:7366022ea0ab 21 float t1, t2, dtcA, dtcB, dtcC;
nki 22:46d164aa4f1c 22
bwang 23:7366022ea0ab 23 /*
nki 22:46d164aa4f1c 24 //for positive dtheta/dt, t1 is decreasing. t2 is increasing.
bwang 19:280c62c71cf8 25 if (va >= 0){ // (xx1)
bwang 19:280c62c71cf8 26 if (vb >= 0){ // (x11)
nki 22:46d164aa4f1c 27 //300-360 degrees
bwang 23:7366022ea0ab 28 t1 = va;
bwang 23:7366022ea0ab 29 t2 = vb;
bwang 23:7366022ea0ab 30 dtcA = 0.5f - t1 / 2.0f;
bwang 23:7366022ea0ab 31 dtcB = 0.5f - t2 / 2.0f;
nki 22:46d164aa4f1c 32 dtcC = 1.5f - dtcA - dtcB;
bwang 19:280c62c71cf8 33 }
bwang 19:280c62c71cf8 34 else { // (x01)
nki 22:46d164aa4f1c 35 if (vc >= 0){ // Sector 5: (1,0,1) 180-240 degrees
bwang 23:7366022ea0ab 36 t1 = va;
bwang 23:7366022ea0ab 37 t2 = vb;
bwang 23:7366022ea0ab 38 dtcA = 0.5f - t1 / 2.0f;
bwang 23:7366022ea0ab 39 dtcB = 0.5f - t2 / 2.0f;
bwang 23:7366022ea0ab 40 dtcC = 1.5f - dtcA - dtcB;
nki 22:46d164aa4f1c 41
bwang 19:280c62c71cf8 42 }
nki 22:46d164aa4f1c 43 else {// Sector 1: (0,0,1) 240-300 degrees
bwang 23:7366022ea0ab 44 t1 = va;
bwang 23:7366022ea0ab 45 t2 = vb;
bwang 23:7366022ea0ab 46 dtcA = 0.5f - t1 / 2.0f;
bwang 23:7366022ea0ab 47 dtcB = 0.5f - t2 / 2.0f;
bwang 23:7366022ea0ab 48 dtcC = 1.5f - dtcA - dtcB;
bwang 19:280c62c71cf8 49 }
bwang 19:280c62c71cf8 50 }
bwang 19:280c62c71cf8 51 } else { // (xx0)
bwang 19:280c62c71cf8 52 if (vb >= 0) { // (x10)
nki 22:46d164aa4f1c 53 if (vc >= 0) { // Sector 6: (1,1,0) 60-120 degrees
bwang 23:7366022ea0ab 54 t1 = va;
bwang 23:7366022ea0ab 55 t2 = vb;
bwang 23:7366022ea0ab 56 dtcA = 0.5f - t1 / 2.0f;
bwang 23:7366022ea0ab 57 dtcB = 0.5f - t2 / 2.0f;
bwang 23:7366022ea0ab 58 dtcC = 1.5f - dtcA - dtcB;
bwang 19:280c62c71cf8 59 }
nki 22:46d164aa4f1c 60 else {// Sector 2: (0,1,0) 0-60 degrees
bwang 23:7366022ea0ab 61 t1 = va;
bwang 23:7366022ea0ab 62 t2 = vb;
bwang 23:7366022ea0ab 63 dtcA = 0.5f - t1 / 2.0f;
bwang 23:7366022ea0ab 64 dtcB = 0.5f - t2 / 2.0f;
bwang 23:7366022ea0ab 65 dtcC = 1.5f - dtcA - dtcB;
bwang 19:280c62c71cf8 66 }
bwang 19:280c62c71cf8 67 }
bwang 19:280c62c71cf8 68 else { // (x00)
bwang 19:280c62c71cf8 69 // Must be Sector 4 since Sector 0 not allowed
nki 22:46d164aa4f1c 70 // Sector 4: (1,0,0) 120-180 degrees
bwang 23:7366022ea0ab 71 t1 = va;
bwang 23:7366022ea0ab 72 t2 = vb;
bwang 23:7366022ea0ab 73 dtcA = 0.5f - t1 / 2.0f;
bwang 23:7366022ea0ab 74 dtcB = 0.5f - t2 / 2.0f;
nki 22:46d164aa4f1c 75 dtcC = 1.5f - dtcA - dtcB;
bwang 19:280c62c71cf8 76 }
bwang 19:280c62c71cf8 77 }
bwang 23:7366022ea0ab 78 */
bwang 23:7366022ea0ab 79
bwang 23:7366022ea0ab 80 t1 = va;
bwang 23:7366022ea0ab 81 t2 = vb;
bwang 23:7366022ea0ab 82 dtcA = 0.5f - t1 / 2.0f;
bwang 23:7366022ea0ab 83 dtcB = 0.5f - t2 / 2.0f;
bwang 23:7366022ea0ab 84 dtcC = 1.5f - dtcA - dtcB;
nki 22:46d164aa4f1c 85
bwang 19:280c62c71cf8 86 _inverter->SetDtcA(dtcA);
bwang 19:280c62c71cf8 87 _inverter->SetDtcB(dtcB);
bwang 19:280c62c71cf8 88 _inverter->SetDtcC(dtcC);
nki 22:46d164aa4f1c 89
nki 22:46d164aa4f1c 90 dbg_t1 = t1;
nki 22:46d164aa4f1c 91 dbg_t2 = t2;
nki 21:da41c08e51bc 92
nki 21:da41c08e51bc 93 dbg_dtcA = dtcA;
nki 21:da41c08e51bc 94 dbg_dtcB = dtcB;
nki 21:da41c08e51bc 95 dbg_dtcC = dtcC;
bwang 11:dccbaa9274c5 96 }