hj kiela / Mbed 2 deprecated BLDCSineCommutation

Test program for 20A 24V power stagefor sine commutation of BLDC motor. PID loop and communication will foolow

Dependencies:   mbed

main.cpp@2:5eacc17e53eb, 2013-05-29 (annotated)

Committer:
hkiela
Date:
Wed May 29 07:36:36 2013 +0000
Revision:
2:5eacc17e53eb
Parent:
1:57efa2224451 
Test program 3 Phase BLDC Sine drive power stage

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hkiela 0:924cdaeea469 1 // May 2013
hkiela 0:924cdaeea469 2 // HJK Test PWM sine generator
hkiela 0:924cdaeea469 3 // Reads 2 potmeter (value 0 to 1 float) and generates a sine wave with amplidute and freq.
hkiela 0:924cdaeea469 4 // The resulting value is sent to Led 3 and PWM output 1
hkiela 0:924cdaeea469 5
hkiela 0:924cdaeea469 6 #include "mbed.h"
hkiela 0:924cdaeea469 7 //#include "math.h"
hkiela 1:57efa2224451 8 //#include "Tables.cpp"
hkiela 0:924cdaeea469 9
hkiela 0:924cdaeea469 10 Serial pc(USBTX, USBRX); // tx, rx
hkiela 0:924cdaeea469 11 DigitalOut led1(LED1); // main led
hkiela 0:924cdaeea469 12 DigitalOut led2(LED2); // Interrupt led
hkiela 2:5eacc17e53eb 13 PwmOut led3(LED3), aPwm0(p21), aPwm1(p22), aPwm2(p23);
hkiela 0:924cdaeea469 14
hkiela 0:924cdaeea469 15 Ticker t;
hkiela 1:57efa2224451 16
hkiela 1:57efa2224451 17 //int SineTable tSineTable;
hkiela 0:924cdaeea469 18
hkiela 0:924cdaeea469 19 Timer tmr1;
hkiela 0:924cdaeea469 20 AnalogIn AD1(p20), AD2(p19);
hkiela 0:924cdaeea469 21
hkiela 2:5eacc17e53eb 22 unsigned int ServoCnt =0, BackgrCnt =0, ServoTime =0;
hkiela 0:924cdaeea469 23 float Potm1, Potm2;
hkiela 2:5eacc17e53eb 24 float Potm1Offset = 0.5; // Center position is speed zero
hkiela 0:924cdaeea469 25
hkiela 2:5eacc17e53eb 26 int TableIndex0 =0, TableIndex1 =0, TableIndex2 =0; // Index in sine table
hkiela 2:5eacc17e53eb 27 float fTableIndex0 =0, fTableIndex1 =0, fTableIndex2 =0, SpeedIndex =0; // Speedindex is calculated dependinding on cycle speed. fTableIndex0 is the floating point index progressing
hkiela 2:5eacc17e53eb 28
hkiela 1:57efa2224451 29 int SineOut0, SineOut1, SineOut2; // The Sine output values
hkiela 1:57efa2224451 30 float mSineOut0, mSineOut1, mSineOut2; // The multiplied Sine output values
hkiela 2:5eacc17e53eb 31 float MotorSpeed, CycleSpeed; // Motor speed in cycles per second derived from potm1
hkiela 2:5eacc17e53eb 32 float MaxMotorSpeed = 10;
hkiela 2:5eacc17e53eb 33 float MaxCycleSpeed = 10;
hkiela 0:924cdaeea469 34
hkiela 2:5eacc17e53eb 35 int Rti_us = 100000; // Real time interrupt time in us
hkiela 2:5eacc17e53eb 36 float Rti_sec = 0.33; // The cycle time
hkiela 2:5eacc17e53eb 37
hkiela 2:5eacc17e53eb 38 // Change PWM freq HERE
hkiela 2:5eacc17e53eb 39 int PwmTime_us = 50, PwmPulsWidth0 = 0, PwmPulsWidth1 = 0, PwmPulsWidth2 = 0; // Reference time Pwm and actual puls time
hkiela 2:5eacc17e53eb 40 //int PwmTime_us = 10000, PwmPulsWidth0 = 0, PwmPulsWidth1 = 0, PwmPulsWidth2 = 0; // Reference time Pwm and actual puls time
hkiela 1:57efa2224451 41 int Sin1Offset = 120, Sin2Offset = 240; // Offsets for two other phase outputs
hkiela 1:57efa2224451 42
hkiela 1:57efa2224451 43 int SineTable[360] = {0, 17, 35, 52, 70, 87, 105, 122, 139, 156
hkiela 1:57efa2224451 44 ,174, 191, 208, 225, 242, 259, 276, 292, 309, 326
hkiela 1:57efa2224451 45 ,342, 358, 375, 391, 407, 423, 438, 454, 469, 485
hkiela 1:57efa2224451 46 ,500, 515, 530, 545, 559, 574, 588, 602, 616, 629
hkiela 1:57efa2224451 47 ,643, 656, 669, 682, 695, 707, 719, 731, 743, 755
hkiela 1:57efa2224451 48 ,766, 777, 788, 799, 809, 819, 829, 839, 848, 857
hkiela 1:57efa2224451 49 ,866, 875, 883, 891, 899, 906, 914, 921, 927, 934
hkiela 1:57efa2224451 50 ,940, 946, 951, 956, 961, 966, 970, 974, 978, 982
hkiela 1:57efa2224451 51 ,985, 988, 990, 993, 995, 996, 998, 999, 999, 1000
hkiela 1:57efa2224451 52 ,1000, 1000, 999, 999, 998, 996, 995, 993, 990, 988
hkiela 1:57efa2224451 53 ,985, 982, 978, 974, 970, 966, 961, 956, 951, 946
hkiela 1:57efa2224451 54 ,940, 934, 927, 921, 914, 906, 899, 891, 883, 875
hkiela 1:57efa2224451 55 ,866, 857, 848, 839, 829, 819, 809, 799, 788, 777
hkiela 1:57efa2224451 56 ,766, 755, 743, 731, 719, 707, 695, 682, 669, 656
hkiela 1:57efa2224451 57 ,643, 629, 616, 602, 588, 574, 559, 545, 530, 515
hkiela 1:57efa2224451 58 ,500, 485, 469, 454, 438, 423, 407, 391, 375, 358
hkiela 1:57efa2224451 59 ,342, 326, 309, 292, 276, 259, 242, 225, 208, 191
hkiela 1:57efa2224451 60 ,174, 156, 139, 122, 105, 87, 70, 52, 35, 17
hkiela 1:57efa2224451 61 ,0, -17, -35, -52, -70, -87, -105, -122, -139, -156
hkiela 1:57efa2224451 62 ,-174, -191, -208, -225, -242, -259, -276, -292, -309, -326
hkiela 1:57efa2224451 63 ,-342, -358, -375, -391, -407, -423, -438, -454, -469, -485
hkiela 1:57efa2224451 64 ,-500, -515, -530, -545, -559, -574, -588, -602, -616, -629
hkiela 1:57efa2224451 65 ,-643, -656, -669, -682, -695, -707, -719, -731, -743, -755
hkiela 1:57efa2224451 66 ,-766, -777, -788, -799, -809, -819, -829, -839, -848, -857
hkiela 1:57efa2224451 67 ,-866, -875, -883, -891, -899, -906, -914, -921, -927, -934
hkiela 1:57efa2224451 68 ,-940, -946, -951, -956, -961, -966, -970, -974, -978, -982
hkiela 1:57efa2224451 69 ,-985, -988, -990, -993, -995, -996, -998, -999, -999, -1000
hkiela 1:57efa2224451 70 ,-1000, -1000, -999, -999, -998, -996, -995, -993, -990, -988
hkiela 1:57efa2224451 71 ,-985, -982, -978, -974, -970, -966, -961, -956, -951, -946
hkiela 1:57efa2224451 72 ,-940, -934, -927, -921, -914, -906, -899, -891, -883, -875
hkiela 1:57efa2224451 73 ,-866, -857, -848, -839, -829, -819, -809, -799, -788, -777
hkiela 1:57efa2224451 74 ,-766, -755, -743, -731, -719, -707, -695, -682, -669, -656
hkiela 1:57efa2224451 75 ,-643, -629, -616, -602, -588, -574, -559, -545, -530, -515
hkiela 1:57efa2224451 76 ,-500, -485, -469, -454, -438, -423, -407, -391, -375, -358
hkiela 1:57efa2224451 77 ,-342, -326, -309, -292, -276, -259, -242, -225, -208, -191
hkiela 1:57efa2224451 78 ,-174, -156, -139, -122, -105, -87, -70, -52, -35, -17
hkiela 1:57efa2224451 79 };
hkiela 1:57efa2224451 80
hkiela 0:924cdaeea469 81
hkiela 0:924cdaeea469 82 // A class for flip()-ing a DigitalOut
hkiela 0:924cdaeea469 83 class Flipper {
hkiela 0:924cdaeea469 84 public:
hkiela 0:924cdaeea469 85 Flipper(PinName pin) : _pin(pin) {
hkiela 0:924cdaeea469 86 _pin = 0;
hkiela 0:924cdaeea469 87 }
hkiela 0:924cdaeea469 88 void flip()
hkiela 0:924cdaeea469 89 {int starttime, endtime;
hkiela 0:924cdaeea469 90
hkiela 0:924cdaeea469 91 starttime = tmr1.read_us(); // Measure time 1
hkiela 0:924cdaeea469 92
hkiela 0:924cdaeea469 93 Potm1 = AD1.read(); Potm2 = AD2.read(); // Get potmeters
hkiela 2:5eacc17e53eb 94 // led3.pulsewidth_us(Potm1 * PwmTime_us); // Set duty cycle for LED
hkiela 2:5eacc17e53eb 95
hkiela 2:5eacc17e53eb 96 CycleSpeed = (Potm1 - Potm1Offset) * 30 * MaxCycleSpeed; // Potmeter -0.5 to +0.5
hkiela 2:5eacc17e53eb 97 SpeedIndex = CycleSpeed;
hkiela 2:5eacc17e53eb 98 fTableIndex0 = fTableIndex0 + SpeedIndex;
hkiela 2:5eacc17e53eb 99 fTableIndex1 = fTableIndex0+120; // calculate offset angles other two phases
hkiela 2:5eacc17e53eb 100 fTableIndex2 = fTableIndex1+120;
hkiela 2:5eacc17e53eb 101
hkiela 2:5eacc17e53eb 102 while (fTableIndex0 < 0) { fTableIndex0 += 360; }; // Caclulate modulo 360 index Ph0
hkiela 2:5eacc17e53eb 103 while (fTableIndex0 > 359) { fTableIndex0 -= 360; };
hkiela 2:5eacc17e53eb 104 // fTableIndex1 = fTableIndex1 % 359;
hkiela 2:5eacc17e53eb 105 while (fTableIndex1 < 0) { fTableIndex1 += 360; }; // Caclulate modulo 360 index ph1
hkiela 2:5eacc17e53eb 106 while (fTableIndex1 > 359) { fTableIndex1 -= 360; };
hkiela 2:5eacc17e53eb 107 while (fTableIndex2 < 0) { fTableIndex2 += 359; }; // Caclulate modulo 360 index ph2
hkiela 2:5eacc17e53eb 108 while (fTableIndex2 > 359) { fTableIndex2 -= 360; };
hkiela 0:924cdaeea469 109
hkiela 2:5eacc17e53eb 110 TableIndex0 = std::floor(fTableIndex0);
hkiela 2:5eacc17e53eb 111 TableIndex1 = std::floor(fTableIndex1);
hkiela 2:5eacc17e53eb 112 TableIndex2 = std::floor(fTableIndex2);
hkiela 2:5eacc17e53eb 113
hkiela 2:5eacc17e53eb 114 SineOut0 = SineTable[TableIndex0]; // Get sine value from table ph0
hkiela 2:5eacc17e53eb 115 mSineOut0 = SineOut0 * Potm2; // Multiply sine with potmeter
hkiela 2:5eacc17e53eb 116 SineOut1 = SineTable[TableIndex1]; // Get sine value from table ph1
hkiela 2:5eacc17e53eb 117 mSineOut1 = SineOut1 * Potm2; // Multiply sine with potmeter
hkiela 2:5eacc17e53eb 118 SineOut2 = SineTable[TableIndex2]; // Get sine value from table ph2
hkiela 2:5eacc17e53eb 119 mSineOut2 = SineOut2 * Potm2; // Multiply sine with potmeter
hkiela 2:5eacc17e53eb 120
hkiela 2:5eacc17e53eb 121 // PwmPulsWidth = PwmTime_us * TableIndex0/360;
hkiela 2:5eacc17e53eb 122 PwmPulsWidth0 = PwmTime_us * (mSineOut0 + 1000) /2000; // output based on sine table via degree index multiplied by potm2 and offset 50%
hkiela 2:5eacc17e53eb 123 PwmPulsWidth1 = PwmTime_us * (mSineOut1 + 1000) /2000; // output based on sine table via degree index multiplied by potm2 and offset 50%
hkiela 2:5eacc17e53eb 124 PwmPulsWidth2 = PwmTime_us * (mSineOut2 + 1000) /2000; // output based on sine table via degree index multiplied by potm2 and offset 50%
hkiela 2:5eacc17e53eb 125 aPwm0.pulsewidth_us(PwmPulsWidth0); // Set DC amp out 0
hkiela 2:5eacc17e53eb 126 aPwm1.pulsewidth_us(PwmPulsWidth1); // Set DC amp out 0
hkiela 2:5eacc17e53eb 127 aPwm2.pulsewidth_us(PwmPulsWidth2); // Set DC amp out 0
hkiela 2:5eacc17e53eb 128 //aPwm0.pulsewidth_us(Potm1 * PwmTime_us); // Set DC amp out 0
hkiela 2:5eacc17e53eb 129 // led3.pulsewidth_us(0.4 * PwmTime_us); // Set duty cycle for LED
hkiela 2:5eacc17e53eb 130 led3.pulsewidth_us(PwmPulsWidth0); // Set duty cycle for LED
hkiela 2:5eacc17e53eb 131 // led3.pulsewidth_us(Potm1 * PwmTime_us); // Set duty cycle for LED
hkiela 2:5eacc17e53eb 132
hkiela 2:5eacc17e53eb 133 // TableIndex0 = ceil(Potm1 * 359);
hkiela 2:5eacc17e53eb 134 SineOut0 = SineTable[TableIndex0]; // Get sine value from table
hkiela 1:57efa2224451 135 mSineOut0 = SineOut0 * Potm2; // Multiply sine with potmeter
hkiela 0:924cdaeea469 136
hkiela 0:924cdaeea469 137 ServoCnt++; // Servo counter
hkiela 2:5eacc17e53eb 138 if ((ServoCnt % 10) == 0) {_pin = !_pin;}; // toggle led 2
hkiela 2:5eacc17e53eb 139
hkiela 0:924cdaeea469 140 endtime = tmr1.read_us(); // Measure time 2
hkiela 0:924cdaeea469 141 ServoTime = endtime - starttime;
hkiela 0:924cdaeea469 142 }
hkiela 0:924cdaeea469 143 private:
hkiela 0:924cdaeea469 144 DigitalOut _pin;
hkiela 0:924cdaeea469 145 };
hkiela 0:924cdaeea469 146
hkiela 0:924cdaeea469 147 Flipper f(LED2);
hkiela 0:924cdaeea469 148
hkiela 0:924cdaeea469 149 // Init program
hkiela 0:924cdaeea469 150 void DoInit(void) {
hkiela 0:924cdaeea469 151 pc.baud(115200);
hkiela 0:924cdaeea469 152 tmr1.start();
hkiela 2:5eacc17e53eb 153 // Rti_sec = Rti_us / 1000000;
hkiela 2:5eacc17e53eb 154
hkiela 2:5eacc17e53eb 155 t.attach_us(&f, &Flipper::flip, Rti_us); // the address of the object, member function, and interval
hkiela 0:924cdaeea469 156 // t.attach_us(&f, &Flipper::flip, 25); // the address of the object, member function, and interval
hkiela 0:924cdaeea469 157 // 25 us = 40kHz
hkiela 0:924cdaeea469 158 // led3 = 1;
hkiela 0:924cdaeea469 159 led3.period_us(PwmTime_us); // Set the period to 10mS = 100Hz
hkiela 2:5eacc17e53eb 160 // aPwm0.period_us(PwmTime_us); // Set the period for the pwm output to amplifier
hkiela 2:5eacc17e53eb 161 // aPwm1.period_us(PwmTime_us); // Set the period for the pwm output to amplifier
hkiela 2:5eacc17e53eb 162 // aPwm2.period_us(PwmTime_us); // Set the period for the pwm output to amplifier
hkiela 0:924cdaeea469 163
hkiela 2:5eacc17e53eb 164 pc.printf("The Init time was %f seconds, Cycletime: %f\n\r", tmr1.read(), Rti_sec);
hkiela 0:924cdaeea469 165 // Return 0;
hkiela 0:924cdaeea469 166 }
hkiela 0:924cdaeea469 167
hkiela 0:924cdaeea469 168
hkiela 0:924cdaeea469 169 int main() {
hkiela 0:924cdaeea469 170 DoInit();
hkiela 0:924cdaeea469 171
hkiela 0:924cdaeea469 172 while(1) {
hkiela 0:924cdaeea469 173 BackgrCnt++;
hkiela 0:924cdaeea469 174 led1 = 1;
hkiela 0:924cdaeea469 175 wait(0.2);
hkiela 0:924cdaeea469 176 led1 = 0;
hkiela 0:924cdaeea469 177 wait(0.2);
hkiela 2:5eacc17e53eb 178 pc.printf("Servotm: %i, ServoCnt: %i , BackgrCnt: %i , Potm1: %.2f, Potm2: %.2f \r",
hkiela 2:5eacc17e53eb 179 ServoTime, ServoCnt, BackgrCnt, Potm1, Potm2);
hkiela 2:5eacc17e53eb 180 pc.printf("TableIndex0 :%i, TableIndex0 :%i, TableIndex0 :%i, SineOut0: %i , mSineOut0: %.2f, mSineOut1: %.2f, mSineOut2: %.2f \r",
hkiela 2:5eacc17e53eb 181 ServoTime, TableIndex0, TableIndex1, TableIndex2, SineOut0, mSineOut0, mSineOut1 , mSineOut2 );
hkiela 2:5eacc17e53eb 182 pc.printf("CycleSpeed: %.2f, fTableIndex0: %.2f, fTableIndex1: %.2f, fTableIndex2: %.2f \r",
hkiela 2:5eacc17e53eb 183 CycleSpeed, fTableIndex0, fTableIndex1, fTableIndex2);
hkiela 2:5eacc17e53eb 184 pc.printf("PwmPulsWidth0: %i, PwmPulsWidth1: %i ,, PwmPulsWidth2: %i \r\r",
hkiela 2:5eacc17e53eb 185 PwmPulsWidth0, PwmPulsWidth1, PwmPulsWidth2 );
hkiela 0:924cdaeea469 186 }
hkiela 0:924cdaeea469 187 }
hkiela 0:924cdaeea469 188