GOPA KUMAR K C
/
trqrod_pwm
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trqrod_pwm
by 
GOPA KUMAR K C
Diff: main.cpp
- Revision:
- 0:85b285794bd5
- Child:
- 1:c872ad833d2a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Feb 13 15:48:34 2015 +0000
@@ -0,0 +1,52 @@
+void FUNC_ACS_GENPWM(float M[3])
+ {
+ PwmOut PWM1(A0); //Functions used to generate PWM signal
+ PwmOut PWM2(A1);
+ PwmOut PWM3(A2); //PWM output comes from pins p6
+Serial pc1(USBTX, USBRX);
+ printf("\nEnterd PWMGEN function\n");
+ float DCx = 0; //Duty cycle of Moment in x, y, z directions
+ float ix = 0; //Current sent in x, y, z TR's
+ float timep = 0.02 ;
+ float Mx=M[0]; //Time period is set to 0.02s
+ //Moment in x, y, z directions
+
+
+ ix = Mx * 0.3 ; //Moment and Current always have the linear relationship
+
+ if( ix>0&& ix < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ DCx = 6*1000000*pow(ix,4) - 377291*pow(ix,3) + 4689.6*pow(ix,2) + 149.19*ix - 0.0008;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if( ix >= 0.006&& ix < 0.0116)
+ {
+ DCx = 1*100000000*pow(ix,4) - 5*1000000*pow(ix,3) + 62603*pow(ix,2) - 199.29*ix + 0.7648;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if (ix >= 0.0116&& ix < 0.0624)
+ {
+
+ DCx = 212444*pow(ix,4) - 33244*pow(ix,3) + 1778.4*pow(ix,2) + 120.91*ix + 0.3878;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if(ix >= 0.0624&& ix < 0.555)
+ {
+ printf("\nACS entered if\n");
+ DCx = 331.15*pow(ix,4) - 368.09*pow(ix,3) + 140.43*pow(ix,2) + 158.59*ix + 0.0338;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if(ix==0)
+ {
+ DCx = 0;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else
+ {
+ // printf("!!!!!!!!!!Error!!!!!!!!!");
+ }