N K / Mbed 2 deprecated analoghalls5_5

working-est copy with class-based code. still open loop

Dependencies:   mbed

Fork of analoghalls6 by N K

meta.h@3:0a2396597e0d, 2015-03-02 (annotated)

Committer:
bwang
Date:
Mon Mar 02 01:24:37 2015 +0000
Revision:
3:0a2396597e0d
Parent:
2:8696a62a4077
Child:
4:fdadf4a3577a
should turn moter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 1:1f58bdcf2956 1 #ifndef __META_H
bwang 1:1f58bdcf2956 2 #define __META_H
bwang 1:1f58bdcf2956 3
bwang 1:1f58bdcf2956 4 #include "includes.h"
bwang 1:1f58bdcf2956 5 #include "core.h"
bwang 1:1f58bdcf2956 6 #include "sensors.h"
bwang 1:1f58bdcf2956 7
bwang 1:1f58bdcf2956 8 class Modulator {
bwang 1:1f58bdcf2956 9 public:
bwang 1:1f58bdcf2956 10 Modulator(Inverter *inverter) {_inverter = inverter;}
bwang 1:1f58bdcf2956 11 virtual void Update(float va, float vb) = 0;
bwang 1:1f58bdcf2956 12 protected:
bwang 1:1f58bdcf2956 13 Inverter* _inverter;
bwang 1:1f58bdcf2956 14 };
bwang 1:1f58bdcf2956 15
bwang 1:1f58bdcf2956 16 class SinusoidalModulator: public Modulator {
bwang 1:1f58bdcf2956 17 public:
bwang 1:1f58bdcf2956 18 SinusoidalModulator(Inverter *inverter):Modulator(inverter) {}
bwang 1:1f58bdcf2956 19 virtual void Update(float va, float vb);
bwang 1:1f58bdcf2956 20 };
bwang 1:1f58bdcf2956 21
bwang 1:1f58bdcf2956 22 class PidController {
bwang 1:1f58bdcf2956 23 public:
bwang 1:1f58bdcf2956 24 PidController(float ki, float kp, float kd, float out_max, float out_min);
bwang 1:1f58bdcf2956 25 float Update(float ref, float in);
bwang 1:1f58bdcf2956 26 private:
bwang 1:1f58bdcf2956 27 float _ki, _kp, _kd;
bwang 1:1f58bdcf2956 28 float _last_in, _integral;
bwang 1:1f58bdcf2956 29 float _out_max, _out_min;
bwang 1:1f58bdcf2956 30 };
bwang 1:1f58bdcf2956 31
bwang 3:0a2396597e0d 32 class ReferenceSynthesizer {
bwang 3:0a2396597e0d 33 public:
bwang 3:0a2396597e0d 34 ReferenceSynthesizer(float max_phase_current) {_max_phase_current = max_phase_current;}
bwang 3:0a2396597e0d 35 virtual void GetReference(float angle, float *ref_d, float *ref_q) {*ref_d = 0; *ref_q = 0;}
bwang 3:0a2396597e0d 36 protected:
bwang 3:0a2396597e0d 37 static float LutSin(float theta);
bwang 3:0a2396597e0d 38 static float LutCos(float theta);
bwang 3:0a2396597e0d 39 protected:
bwang 3:0a2396597e0d 40 float _max_phase_current;
bwang 3:0a2396597e0d 41 };
bwang 3:0a2396597e0d 42
bwang 3:0a2396597e0d 43 class SynchronousReferenceSynthesizer : public ReferenceSynthesizer {
bwang 3:0a2396597e0d 44 public:
bwang 3:0a2396597e0d 45 SynchronousReferenceSynthesizer(float max_phase_current):ReferenceSynthesizer(max_phase_current) {}
bwang 3:0a2396597e0d 46 virtual void GetReference(float angle, float *ref_d, float *ref_q);
bwang 3:0a2396597e0d 47 };
bwang 3:0a2396597e0d 48
bwang 1:1f58bdcf2956 49 class StatusUpdater {
bwang 1:1f58bdcf2956 50 public:
bwang 1:1f58bdcf2956 51 StatusUpdater(Inverter *inverter, Motor *motor, User *user);
bwang 1:1f58bdcf2956 52 void Config(int fast_sample_rate, int slow_sample_rate);
bwang 1:1f58bdcf2956 53 void Start();
bwang 1:1f58bdcf2956 54 private:
bwang 1:1f58bdcf2956 55 static void time_upd_isr();
bwang 1:1f58bdcf2956 56 private:
bwang 1:1f58bdcf2956 57 Inverter *_inverter;
bwang 1:1f58bdcf2956 58 Motor *_motor;
bwang 1:1f58bdcf2956 59 User *_user;
bwang 1:1f58bdcf2956 60 int _fast_sample_rate;
bwang 1:1f58bdcf2956 61 int _slow_sample_rate;
bwang 1:1f58bdcf2956 62
bwang 1:1f58bdcf2956 63 static unsigned long _time;
bwang 1:1f58bdcf2956 64 Ticker _time_ticker;
bwang 1:1f58bdcf2956 65 };
bwang 1:1f58bdcf2956 66
bwang 1:1f58bdcf2956 67 class LoopDriver {
bwang 1:1f58bdcf2956 68 public:
bwang 3:0a2396597e0d 69 LoopDriver(Inverter *inverter, Motor *motor, User *user, PidController *pid_d, PidController *pid_q,
bwang 3:0a2396597e0d 70 Modulator *modulator, float max_phase_current, int update_frequency);
bwang 1:1f58bdcf2956 71 void Start();
bwang 1:1f58bdcf2956 72 private:
bwang 3:0a2396597e0d 73 static void Clarke(float a, float b, float *alpha, float *beta);
bwang 3:0a2396597e0d 74 static void Parke(float alpha, float beta, float theta, float *d, float *q);
bwang 3:0a2396597e0d 75 static void InverseParke(float d, float q, float theta, float *alpha, float *beta);
bwang 1:1f58bdcf2956 76 private:
bwang 1:1f58bdcf2956 77 static void update();
bwang 1:1f58bdcf2956 78 private:
bwang 3:0a2396597e0d 79 static float LutSin(float theta);
bwang 3:0a2396597e0d 80 static float LutCos(float theta);
bwang 3:0a2396597e0d 81 private:
bwang 3:0a2396597e0d 82 static Inverter *_inverter;
bwang 3:0a2396597e0d 83 static Motor *_motor;
bwang 3:0a2396597e0d 84 static User *_user;
bwang 3:0a2396597e0d 85 static PidController *_pid_d, *_pid_q;
bwang 3:0a2396597e0d 86 static ReferenceSynthesizer *_reference;
bwang 3:0a2396597e0d 87 static Modulator *_modulator;
bwang 1:1f58bdcf2956 88
bwang 3:0a2396597e0d 89 Ticker _upd_ticker;
bwang 3:0a2396597e0d 90 float _max_phase_current;
bwang 1:1f58bdcf2956 91 int _update_frequency;
bwang 2:8696a62a4077 92 };
bwang 1:1f58bdcf2956 93
bwang 1:1f58bdcf2956 94 #endif
bwang 1:1f58bdcf2956 95