working-est copy with class-based code. still open loop
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loopdriver.cpp
- Committer:
- nki
- Date:
- 2015-03-04
- Revision:
- 6:99ee0ce47fb2
- Parent:
- 5:ee1e6c84c302
- Child:
- 7:76d6ceb23e0d
- Child:
- 9:d3b70c15baa9
File content as of revision 6:99ee0ce47fb2:
#include "includes.h" #include "core.h" #include "sensors.h" #include "meta.h" #include "lut.h" Inverter* LoopDriver::_inverter; Motor* LoopDriver::_motor; User* LoopDriver::_user; PidController* LoopDriver::_pid_d; PidController* LoopDriver::_pid_q; ReferenceSynthesizer* LoopDriver::_reference; Modulator* LoopDriver::_modulator; int LoopDriver::_blinky_toggle; LoopDriver::LoopDriver(Inverter *inverter, Motor *motor, User *user, PidController *pid_d, PidController *pid_q, Modulator *modulator, float max_phase_current, int update_frequency) { _inverter = inverter; _motor = motor; _user = user; _pid_d = pid_d; _pid_q = pid_q; _reference = new SynchronousReferenceSynthesizer(max_phase_current);; _modulator = modulator; _max_phase_current = max_phase_current; _update_frequency = update_frequency; } void LoopDriver::Start() { _upd_ticker.attach_us(&update, 1000000 / _update_frequency); } void LoopDriver::Clarke(float c, float b, float *alpha, float *beta) { *alpha = b; //*beta = 1.0f / sqrt(3.0f) * a + 2.0f / sqrt(3.0f) * b; *beta = (b + 2.0f * c)/sqrt(3.0f); } void LoopDriver::Parke(float alpha, float beta, float theta, float *d, float *q) { float cos = LutCos(theta); float sin = LutSin(theta); *d = alpha * cos - beta * sin; *q = -alpha * sin - beta * cos; } void LoopDriver::InverseParke(float d, float q, float theta, float *alpha, float *beta) { float cos = LutCos(theta); float sin = LutSin(theta); //*alpha = cos * d - sin * q; //*beta = -(sin * d + cos * q); *alpha = cos * 1.0f; *beta = -sin * 1.0f; } float LoopDriver::LutSin(float theta) { if (theta < 0.0f) theta += 360.0f; if (theta >= 360.0f) theta -= 360.0f; return sinetab[(int) theta] * 2.0f - 1.0f; } float LoopDriver::LutCos(float theta) { return LutSin(90.0f - theta); } void LoopDriver::update() { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; Clarke(_motor->I_c, _motor->I_b, &alpha, &beta); test_alpha = alpha; test_beta = beta; Parke(alpha, beta, _motor->angle, &d, &q); _reference->GetReference(_motor->angle, &ref_d, &ref_q); float vd = _pid_d->Update(ref_d, d); float vq = _pid_q->Update(ref_q, q); InverseParke(vd, vq, _motor->angle, &valpha, &vbeta); _modulator->Update(valpha, vbeta); }