manabu kosaka / Mbed 2 deprecated BLDCmotor

UVW 3 phases Brushless DC motor control

Dependencies:   QEI mbed-rtos mbed

Fork of DCmotor by manabu kosaka

main.cpp@12:a4b17bb682eb, 2012-12-21 (annotated)

Committer:
kosaka
Date:
Fri Dec 21 22:06:56 2012 +0000
Revision:
12:a4b17bb682eb
Parent:
11:9747752435d1
Child:
13:791e20f1af43
121222a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kosaka 12:a4b17bb682eb 1 // UVW three phases Blushless DC motor control program using 3 H-bridge driver (ex. BD6211F) and 360 resolution rotary encoder with A, B phase.
kosaka 12:a4b17bb682eb 2 // ver. 121206 by Kosaka lab.
kosaka 0:fe068497f773 3 #include "mbed.h"
kosaka 0:fe068497f773 4 #include "rtos.h"
kosaka 0:fe068497f773 5
kosaka 12:a4b17bb682eb 6 #include "fast_math.h"
kosaka 12:a4b17bb682eb 7 #include "controller.h"
kosaka 12:a4b17bb682eb 8 #include "UVWpwm.h"
kosaka 0:fe068497f773 9
kosaka 0:fe068497f773 10
kosaka 12:a4b17bb682eb 11 Serial pc2(USBTX, USBRX); // Display on tera term in PC
kosaka 12:a4b17bb682eb 12 LocalFileSystem local("mbedUSBdrive"); // save data to mbed USB disk drive in PC
kosaka 0:fe068497f773 13 //Semaphore semaphore1(1); // wait and release to protect memories and so on
kosaka 0:fe068497f773 14 //Mutex stdio_mutex; // wait and release to protect memories and so on
kosaka 12:a4b17bb682eb 15 Ticker TickerTimerTS0; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer.
kosaka 12:a4b17bb682eb 16 unsigned char fTimerTS2ON=0, fTimerTS3ON=0, fTimerTS4ON=0; // ON/OFF flag for timerTS2, 3, 4.
kosaka 0:fe068497f773 17
kosaka 7:613febb8f028 18 extern "C" void mbed_reset();
kosaka 3:b6b9b8c7dce6 19
kosaka 12:a4b17bb682eb 20 FILE *fp = fopen("/mbedUSBdrive/data.csv", "w"); //save data to PC
kosaka 12:a4b17bb682eb 21 Timeout emergencyStop; // kill fprintf process when bug
kosaka 0:fe068497f773 22
kosaka 0:fe068497f773 23
kosaka 12:a4b17bb682eb 24 void CallTimerTS2(void const *argument) { // make sampling time TS3 timer (priority 3: precision 4ms)
kosaka 12:a4b17bb682eb 25 int ms;
kosaka 12:a4b17bb682eb 26 unsigned long c;
kosaka 12:a4b17bb682eb 27 while (true) {
kosaka 12:a4b17bb682eb 28 c = _count;
kosaka 12:a4b17bb682eb 29 if( fTimerTS2ON ){
kosaka 12:a4b17bb682eb 30 timerTS2(); // timerTS2() is called every TS2[s].
kosaka 12:a4b17bb682eb 31 }
kosaka 12:a4b17bb682eb 32 if( (ms=(int)(TS2*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;}
kosaka 12:a4b17bb682eb 33 Thread::wait(ms);
kosaka 0:fe068497f773 34 }
kosaka 8:b8b31e9b60c2 35 }
kosaka 12:a4b17bb682eb 36 void CallTimerTS3(void const *argument) { // make sampling time TS3 timer (priority 3: precision 4ms)
kosaka 12:a4b17bb682eb 37 int ms;
kosaka 12:a4b17bb682eb 38 unsigned long c;
kosaka 12:a4b17bb682eb 39 while (true) {
kosaka 12:a4b17bb682eb 40 c = _count;
kosaka 12:a4b17bb682eb 41 if( fTimerTS3ON ){
kosaka 12:a4b17bb682eb 42 timerTS3(); // timerTS3() is called every TS3[s].
kosaka 2:e056793d6fc5 43 }
kosaka 12:a4b17bb682eb 44 if( (ms=(int)(TS3*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;}
kosaka 12:a4b17bb682eb 45 Thread::wait(ms);
kosaka 0:fe068497f773 46 }
kosaka 0:fe068497f773 47 }
kosaka 0:fe068497f773 48
kosaka 12:a4b17bb682eb 49 void CallTimerTS4(void const *argument) { // make sampling time TS4 timer (priority 4: precision 4ms)
kosaka 12:a4b17bb682eb 50 int ms;
kosaka 12:a4b17bb682eb 51 unsigned long c;
kosaka 12:a4b17bb682eb 52 while (true) {
kosaka 12:a4b17bb682eb 53 c = _count;
kosaka 12:a4b17bb682eb 54 if( fTimerTS4ON ){
kosaka 12:a4b17bb682eb 55 timerTS4(); // timerTS4() is called every TS4[s].
kosaka 7:613febb8f028 56 }
kosaka 12:a4b17bb682eb 57 if( (ms=(int)(TS4*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;}
kosaka 12:a4b17bb682eb 58 Thread::wait(ms);
kosaka 12:a4b17bb682eb 59 }
kosaka 12:a4b17bb682eb 60 }
kosaka 0:fe068497f773 61
kosaka 12:a4b17bb682eb 62 //void stop_fprintf(){ // emergencyStop if fprintf keep busy for 3 secons
kosaka 12:a4b17bb682eb 63 // fclose(fp);
kosaka 12:a4b17bb682eb 64 // pc2.printf("error: fprintf was in hung-up!");
kosaka 12:a4b17bb682eb 65 //}
kosaka 0:fe068497f773 66
kosaka 12:a4b17bb682eb 67 //#define OLD
kosaka 12:a4b17bb682eb 68 int main(){
kosaka 12:a4b17bb682eb 69 int ms=1;
kosaka 12:a4b17bb682eb 70 unsigned long c, c2;
kosaka 12:a4b17bb682eb 71 unsigned short i, i2=0;
kosaka 12:a4b17bb682eb 72 // FILE *fp; // save data to PC
kosaka 12:a4b17bb682eb 73 // FILE *fp = fopen("/mbedUSBdrive/data.csv", "w");
kosaka 12:a4b17bb682eb 74 char chr[100];
kosaka 12:a4b17bb682eb 75 RtosTimer RtosTimerTS1(timerTS1); // RtosTimer priority is osPriorityAboveNormal, just one above main()
kosaka 12:a4b17bb682eb 76 Thread ThreadTimerTS3(CallTimerTS3,NULL,osPriorityBelowNormal);
kosaka 12:a4b17bb682eb 77 Thread ThreadTimerTS4(CallTimerTS4,NULL,osPriorityLow);
kosaka 12:a4b17bb682eb 78 // Priority of Thread (RtosTimer is osPriorityAboveNormal)
kosaka 0:fe068497f773 79 // osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!!
kosaka 0:fe068497f773 80 // osPriorityLow = -2, ///< priority: low
kosaka 0:fe068497f773 81 // osPriorityBelowNormal = -1, ///< priority: below normal
kosaka 0:fe068497f773 82 // osPriorityNormal = 0, ///< priority: normal (default)
kosaka 0:fe068497f773 83 // osPriorityAboveNormal = +1, ///< priority: above normal
kosaka 0:fe068497f773 84 // osPriorityHigh = +2, ///< priority: high
kosaka 0:fe068497f773 85 // osPriorityRealtime = +3, ///< priority: realtime (highest)
kosaka 0:fe068497f773 86 // osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
kosaka 12:a4b17bb682eb 87
kosaka 12:a4b17bb682eb 88 // シミュレーション総サンプル数
kosaka 12:a4b17bb682eb 89 int N;// = 5000;
kosaka 12:a4b17bb682eb 90 // 指令速度
kosaka 12:a4b17bb682eb 91 float w_ref_req[2] = {20* 2*PI, 40* 2*PI}; // [rad/s]（第2要素は指令速度急変後の指令速度）
kosaka 12:a4b17bb682eb 92 float w_ref;
kosaka 12:a4b17bb682eb 93 // 指令ｄｑ電流位相
kosaka 12:a4b17bb682eb 94 float beta_ref = 30*PI/180; // rad
kosaka 12:a4b17bb682eb 95 float tan_beta_ref1;
kosaka 12:a4b17bb682eb 96 float tan_beta_ref2,tan_beta_ref;
kosaka 12:a4b17bb682eb 97
kosaka 12:a4b17bb682eb 98 // start_timers(1); // start multi-timers, sampling times are TS0, TS1, TS2, TS3, TS4.
kosaka 12:a4b17bb682eb 99
kosaka 12:a4b17bb682eb 100 N = (int)(TMAX/TS0);
kosaka 12:a4b17bb682eb 101 pc2.printf("N=%d\r\n",N);
kosaka 12:a4b17bb682eb 102 // IPMSMの機器定数等の設定, 制御器の初期化
kosaka 12:a4b17bb682eb 103 init_parameters();
kosaka 12:a4b17bb682eb 104 p.th[0] = 2*PI/3; //θの初期値
kosaka 12:a4b17bb682eb 105
kosaka 12:a4b17bb682eb 106
kosaka 12:a4b17bb682eb 107 // p.Lq0 = p.Ld; // SPMSMの場合
kosaka 12:a4b17bb682eb 108 // p.phi = 0; // SynRMの場合
kosaka 12:a4b17bb682eb 109
kosaka 12:a4b17bb682eb 110 // w_ref=p.w; // 速度指令[rad/s]
kosaka 12:a4b17bb682eb 111 tan_beta_ref1 = tan(beta_ref);
kosaka 12:a4b17bb682eb 112 tan_beta_ref2 = tan(beta_ref-30*PI/180);
kosaka 12:a4b17bb682eb 113 tan_beta_ref = tan_beta_ref1;
kosaka 12:a4b17bb682eb 114 // シミュレーション開始
kosaka 12:a4b17bb682eb 115 pc2.printf("Simulation start!!\r\n");
kosaka 12:a4b17bb682eb 116 #ifndef OLD
kosaka 12:a4b17bb682eb 117 // start control (ON)
kosaka 12:a4b17bb682eb 118 start_pwm();
kosaka 12:a4b17bb682eb 119 TickerTimerTS0.attach(&timerTS0, TS0 ); // Sampling period[s] of i_controller
kosaka 12:a4b17bb682eb 120 // RtosTimerTS1.start((unsigned int)(TS1*1000.)); // Sampling period[ms] of th controller
kosaka 12:a4b17bb682eb 121 fTimerTS3ON = 1; // timerTS3 start
kosaka 12:a4b17bb682eb 122 fTimerTS4ON = 1; // timerTS3 start
kosaka 12:a4b17bb682eb 123 #endif
kosaka 12:a4b17bb682eb 124
kosaka 12:a4b17bb682eb 125 // set th by moving rotor to th=zero.
kosaka 12:a4b17bb682eb 126 f_find_origin=1;
kosaka 12:a4b17bb682eb 127 while( _count*TS0<0.1 ){ // while( time<1 ){
kosaka 12:a4b17bb682eb 128 // debug_p24 = 1;
kosaka 12:a4b17bb682eb 129 il.idq_ref[0] = iqMAX/1.0;
kosaka 12:a4b17bb682eb 130 il.idq_ref[1] = 0;
kosaka 12:a4b17bb682eb 131
kosaka 12:a4b17bb682eb 132 #ifdef OLD
kosaka 12:a4b17bb682eb 133 timerTS0();
kosaka 12:a4b17bb682eb 134 //current_loop(); // 電流制御マイナーループ(idq_ref to vuvw)
kosaka 12:a4b17bb682eb 135 //vuvw2pwm(); // vuvw to pwm
kosaka 12:a4b17bb682eb 136 //sim_motor(); // IPM, ｄｑ座標
kosaka 12:a4b17bb682eb 137 #endif
kosaka 12:a4b17bb682eb 138
kosaka 12:a4b17bb682eb 139 // if( (ms=(int)(TS1*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;}// ms=TS0
kosaka 12:a4b17bb682eb 140 Thread::wait(ms);
kosaka 12:a4b17bb682eb 141 // debug_p24 = 0;
kosaka 12:a4b17bb682eb 142 }
kosaka 12:a4b17bb682eb 143 //pc2.printf("\r\n^0^ 0\r\n");
kosaka 12:a4b17bb682eb 144 #ifndef SIMULATION
kosaka 12:a4b17bb682eb 145 encoder.reset(); // set encoder counter zero
kosaka 12:a4b17bb682eb 146 p.th[0] = p.th[1] = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder
kosaka 12:a4b17bb682eb 147 #endif
kosaka 12:a4b17bb682eb 148 c2 = _count;
kosaka 12:a4b17bb682eb 149 f_find_origin=0;
kosaka 12:a4b17bb682eb 150
kosaka 12:a4b17bb682eb 151 #ifndef OLD
kosaka 12:a4b17bb682eb 152 TickerTimerTS0.detach(); // timer interrupt stop
kosaka 12:a4b17bb682eb 153 // start control (ON)
kosaka 12:a4b17bb682eb 154 TickerTimerTS0.attach(&timerTS0, TS0 ); // Sampling period[s] of i_controller
kosaka 12:a4b17bb682eb 155 RtosTimerTS1.start((unsigned int)(TS1*1000.)); // Sampling period[ms] of th controller
kosaka 12:a4b17bb682eb 156 #endif
kosaka 12:a4b17bb682eb 157
kosaka 12:a4b17bb682eb 158 for( i=0;i<N;i++ ){
kosaka 12:a4b17bb682eb 159 // debug_p24 = 1;
kosaka 12:a4b17bb682eb 160 c = _count-c2;
kosaka 12:a4b17bb682eb 161 // 電流位相（ｄｑ軸電流）変化
kosaka 12:a4b17bb682eb 162 // if( i>=1500&&i<1900 ){// TS0=0.0001
kosaka 12:a4b17bb682eb 163 if( c>=1500*0.0001/TS0&&c<1900*0.0001/TS0 ){
kosaka 12:a4b17bb682eb 164 if( tan_beta_ref>tan_beta_ref2 ){ tan_beta_ref=tan_beta_ref-0.002;}
kosaka 12:a4b17bb682eb 165 }else{
kosaka 12:a4b17bb682eb 166 if( tan_beta_ref<tan_beta_ref1){ tan_beta_ref=tan_beta_ref+0.002;}
kosaka 12:a4b17bb682eb 167 }
kosaka 12:a4b17bb682eb 168
kosaka 12:a4b17bb682eb 169 // 速度急変
kosaka 12:a4b17bb682eb 170 w_ref = w_ref_req[0];
kosaka 12:a4b17bb682eb 171 if( 2600*0.0001/TS0<=c&&c<3000*0.0001/TS0 ){
kosaka 12:a4b17bb682eb 172 w_ref=w_ref_req[1];
kosaka 12:a4b17bb682eb 173 //pc2.printf(".\r\n");
kosaka 12:a4b17bb682eb 174 }
kosaka 12:a4b17bb682eb 175 #ifdef SIMULATION
kosaka 12:a4b17bb682eb 176 // 負荷トルク急変
kosaka 12:a4b17bb682eb 177 if( c<4000*0.0001/TS0 ){
kosaka 12:a4b17bb682eb 178 p.TL = 1;
kosaka 12:a4b17bb682eb 179 }else{
kosaka 12:a4b17bb682eb 180 p.TL = 2;
kosaka 12:a4b17bb682eb 181 }
kosaka 12:a4b17bb682eb 182 #endif
kosaka 12:a4b17bb682eb 183 vl.w_ref = w_ref; // 目標速度をメインルーチンから速度制御メインループへ渡す。
kosaka 12:a4b17bb682eb 184 vl.tan_beta_ref = tan_beta_ref; // 目標電流位相をメインルーチンから速度制御メインループへ渡す。
kosaka 12:a4b17bb682eb 185
kosaka 12:a4b17bb682eb 186 #ifdef OLD
kosaka 12:a4b17bb682eb 187 if( (++i2)>=(int)(TS1/TS0) ){ i2=0;
kosaka 12:a4b17bb682eb 188 timerTS1(&j); //velocity_loop(); // 速度制御メインループ(w_ref&beta_ref to idq_ref)
kosaka 12:a4b17bb682eb 189 }
kosaka 12:a4b17bb682eb 190 #endif
kosaka 12:a4b17bb682eb 191
kosaka 12:a4b17bb682eb 192 #ifdef OLD
kosaka 12:a4b17bb682eb 193 timerTS0();
kosaka 12:a4b17bb682eb 194 //current_loop(); // 電流制御マイナーループ(idq_ref to vuvw)
kosaka 12:a4b17bb682eb 195 //vuvw2pwm(); // vuvw to pwm
kosaka 12:a4b17bb682eb 196 //sim_motor(); // IPM, ｄｑ座標
kosaka 12:a4b17bb682eb 197 #endif
kosaka 12:a4b17bb682eb 198
kosaka 12:a4b17bb682eb 199 // if( (ms=(int)(TS1*1000-(_count-c)*TS0*1000))<=0 ){ ms=1;}// ms=TS0
kosaka 12:a4b17bb682eb 200 Thread::wait(ms);
kosaka 12:a4b17bb682eb 201 // debug_p24 = 0;
kosaka 12:a4b17bb682eb 202 }
kosaka 12:a4b17bb682eb 203 //pc2.printf("\r\n^0^ 2\r\n");
kosaka 12:a4b17bb682eb 204 // stop timers (OFF)
kosaka 12:a4b17bb682eb 205 stop_pwm();
kosaka 12:a4b17bb682eb 206 TickerTimerTS0.detach(); // timer interrupt stop
kosaka 12:a4b17bb682eb 207 RtosTimerTS1.stop(); // rtos timer stop
kosaka 12:a4b17bb682eb 208 // Thread::wait(1000); // wait till timerTS3 completed
kosaka 12:a4b17bb682eb 209 fTimerTS3ON=0;//ThreadTimerTS3.terminate(); //
kosaka 12:a4b17bb682eb 210 fTimerTS4ON=0;//ThreadTimerTS4.terminate(); //
kosaka 12:a4b17bb682eb 211 //pc2.printf("\r\n^0^ 0\r\n\r\n");
kosaka 12:a4b17bb682eb 212
kosaka 12:a4b17bb682eb 213 // save data to mbed USB drive
kosaka 12:a4b17bb682eb 214 // if ( NULL == (fp = fopen( "/mbedUSBdrive/data.csv", "w" )) ){ error( "" );} // save data to PC
kosaka 12:a4b17bb682eb 215 //pc2.printf("\r\n^0^ %d\r\n\r\n",_count_data);
kosaka 12:a4b17bb682eb 216 // emergencyStop.attach(&stop_fprintf, 0.001); // emergencyStop if fprintf keep busy for 3 secons
kosaka 12:a4b17bb682eb 217 for(i=0;i<_count_data;i++){
kosaka 12:a4b17bb682eb 218 //pc2.printf("%d: ",i);
kosaka 12:a4b17bb682eb 219 //pc2.printf("%f, %f, %f, %f, %f\r\n",
kosaka 12:a4b17bb682eb 220 // data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]); // save data to PC (para, y, time, u)
kosaka 12:a4b17bb682eb 221 // sprintf(&chr[0],"Temperature: f ºC\r\n");//,data[i][0]);
kosaka 12:a4b17bb682eb 222 // sprintf(&chr[0],"%d, ", data[i][1]);
kosaka 12:a4b17bb682eb 223 // fprintf(fp,&chr[0]);
kosaka 12:a4b17bb682eb 224 // fprintf( fp, ", ");
kosaka 12:a4b17bb682eb 225 // fprintf( fp, "%d, ", data[i][1]*10000);
kosaka 12:a4b17bb682eb 226 // fprintf( fp, "\r\n");
kosaka 12:a4b17bb682eb 227 //
kosaka 12:a4b17bb682eb 228 // fprintf( fp, "%f, %f, %f, %f, %f\r\n",
kosaka 12:a4b17bb682eb 229 // data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]); // save data to PC (para, y, time, u)
kosaka 12:a4b17bb682eb 230 //
kosaka 12:a4b17bb682eb 231 // wait(0.1);
kosaka 12:a4b17bb682eb 232 // Thread::wait(100);
kosaka 12:a4b17bb682eb 233 }
kosaka 12:a4b17bb682eb 234 //pc2.printf("\r\n^0^ 2\r\n\r\n");
kosaka 12:a4b17bb682eb 235 fclose( fp ); // release mbed USB drive
kosaka 12:a4b17bb682eb 236
kosaka 12:a4b17bb682eb 237 Thread::wait(100);
kosaka 12:a4b17bb682eb 238 pc2.printf("Control completed!!\r\n\r\n");
kosaka 0:fe068497f773 239 }