Diff: meta/modulators.cpp

Revision:

15:d754b71a1290

Parent:

14:1cc975207995

Child:

19:280c62c71cf8

--- a/meta/modulators.cpp	Mon Mar 09 02:06:06 2015 +0000
+++ b/meta/modulators.cpp	Mon Mar 09 03:07:10 2015 +0000
@@ -5,10 +5,60 @@
 #include "transforms.h"
 
 void SinusoidalModulator::Update(float valpha, float vbeta) {
+    
+    //swapping valpha and vbeta for reasons documented in CalcRef.s here: http://ww1.microchip.com/downloads/jp/AppNotes/ACIM%20Vector%20Control%2000908a.pdf
+    float vra = vbeta;
+    float vrb = ((-vbeta + sqrt(3.0f)*valpha)/2.0f);
+    float vrc = ((-vbeta - sqrt(3.0f)*valpha)/2.0f);
+    
+    float dtcA;
+    float dtcB;
+    float dtcC;
+    
+    if( vra >= 0 ){  // (xx1)
+        if( vrb >= 0 ){ // (x11) 
+            // Must be Sector 3 since Sector 7 not allowed
+            // Sector 3: (0,1,1) 0-60 degrees
+            T1 = vrb;
+            T2 = vra;
+        }
+        else{  // (x01)
+            if( vrc >= 0 ){  // Sector 5: (1,0,1) 120-180 degrees
+            T1 = vra;
+            T2 = vrc;
+            }
+            else{// Sector 1: (0,0,1) 60-120 degrees
+            T1 = -vrb;
+            T2 = -vrc;
+            }
+        }
+    }
+    else{ // (xx0)
+        if( Vrb >= 0 ){ // (x10)
+            if( Vrc >= 0 ){ // Sector 6: (1,1,0) 240-300 degrees
+            T1 = vrc;
+            T2 = vrb;
+            }
+            else{// Sector 2: (0,1,0) 300-0 degrees
+            T1 = -vrc;
+            T2 = -vra;
+            }
+        }
+        else{ // (x00)
+            // Must be Sector 4 since Sector 0 not allowed
+            // Sector 4: (1,0,0) 180-240 degrees
+            T1 = -vra;
+            T2 = -vrb;
+            }
+        }
+    }
+    
+    dtcA = (1.0f-T1-T2)/2.0f
+    dtcB = dtcA + T1
+    dtcC = dtcB + T2
+    
     //--hack to make duty cycles positive
-    float dtcA = valpha;
-    float dtcB = ((-valpha + sqrt(3.0f) * vbeta) / 2.0f);
-    float dtcC = ((-valpha - sqrt(3.0f) * vbeta) / 2.0f);
+  
     _inverter->SetDtcA(dtcA * 0.5f + 0.5f);
     _inverter->SetDtcB(dtcB * 0.5f + 0.5f);
     _inverter->SetDtcC(dtcC * 0.5f + 0.5f);