Diff: main.cpp

Revision:

2:eabe8feaaabb

Parent:

1:7b61790f6be9

Child:

3:9b20da3f0055

--- a/main.cpp	Wed Mar 09 17:21:01 2016 +0000
+++ b/main.cpp	Fri Mar 18 10:07:35 2016 +0000
@@ -11,18 +11,23 @@
 DigitalOut en(EN);
 DigitalOut toggle(PC_10);
 
-AnalogIn Ia(IA);
-AnalogIn Ib(IB);
-
 PositionSensorEncoder pos(CPR, 0);
 
 Serial pc(USBTX, USBRX);
 
 int state = 0;
 int adval1, adval2;
-float ia, ib;
+float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
+
 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
 
+float d_integral = 0.0f, q_integral = 0.0f;
+float last_d = 0.0f, last_q = 0.0f;
+float d_ref = 0.0f, q_ref = -50.0f;
+
+float d_filtered = 0.0f;
+float q_filtered = 0.0f;
+
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
     if (TIM1->SR & TIM_SR_UIF ) {
         adval1 = ADC1->DR;
@@ -30,8 +35,6 @@
         ADC1->CR2  |= 0x40000000; 
     }
     TIM1->SR = 0x00;
-    toggle = state;
-    state = !state;
 }
 
 void zero_current(){
@@ -132,18 +135,74 @@
 }    
 
 void main_loop() {
-    float p = pos.GetElecPosition() - POS_OFFSET + PI / 2;
+    //float p = pos.GetElecPosition() - POS_OFFSET + PI / 2;
+    p = pos.GetElecPosition() - POS_OFFSET;
     if (p < 0) p += 2 * PI;
     
-    float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
-    DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
+    float sin_p = sinf(p);
+    float cos_p = cosf(p);
+    
+    //float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
+    //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
     
     ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
     ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
+    ic = -ia - ib;
     
-    set_dtc(a, 0.5f + 0.5f * cosf(p));
-    set_dtc(b, 0.5f + 0.5f * cosf(p + 2 * PI / 3));
-    set_dtc(c, 0.5f + 0.5f * cosf(p - 2 * PI / 3));
+    float u = ib;//ic;
+    float v = ic;//ia;
+    
+    alpha = u;
+    beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
+    
+    d = alpha * cos_p - beta * sin_p;
+    q = -alpha * sin_p - beta * cos_p;
+    
+    d_filtered = 0.9f * d_filtered + 0.1f * d;
+    q_filtered = 0.9f * q_filtered + 0.1f * q;
+    
+    float d_err = d_ref - d;//_filtered;
+    float q_err = q_ref - q;//_filtered;
+    
+    d_integral += d_err * KI;
+    q_integral += q_err * KI;
+    
+    if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
+    if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
+    if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
+    if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
+    
+    vd = KP * d_err + d_integral;
+    vq = KP * q_err + q_integral;
+    
+    if (vd < -1.0f) vd = -1.0f;
+    if (vd > 1.0f) vd = 1.0f;
+    if (vq < -1.0f) vq = -1.0f;
+    if (vq > 1.0f) vq = 1.0f;
+    
+    DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
+    //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
+    
+    //vd = 0.0f;
+    //vq = -1.0f;
+    
+    //float phase = asinf(vd / sqrtf(vq * vq + vd * vd));
+    //DAC->DHR12R2 = (unsigned int) (phase / (PI / 2.0f) * 2000 + 2048);
+    
+    float valpha = vd * cos_p - vq * sin_p;
+    float vbeta = vd * sin_p + vq * cos_p;
+    
+    float va = valpha;
+    float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
+    float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
+    
+    set_dtc(a, 0.5f + 0.5f * va);
+    set_dtc(b, 0.5f + 0.5f * vb);
+    set_dtc(c, 0.5f + 0.5f * vc);
+    
+    //set_dtc(a, 0.5f + 0.5f * cosf(p));
+    //set_dtc(b, 0.5f + 0.5f * cosf(p + 2 * PI / 3));
+    //set_dtc(c, 0.5f + 0.5f * cosf(p - 2 * PI / 3));
 }
     
 int main() {
@@ -153,6 +212,33 @@
     Ticker loop;
     loop.attach_us(main_loop, 200);
     
+    //vd = 0.0f;
+    //vq = 1.0f;
+    
     for (;;) {
+        
+        printf("%f\n\r", vd);
+        wait_ms(100);
+        
+        /*
+        q_ref = 0.0f;
+        wait(3);
+        toggle = state;
+        state = !state;
+        q_ref = -50.0f;
+        wait(3);
+        */
+        
+        /*
+        vq = 0.0f;
+        wait(3);
+        toggle = state;
+        state = !state;
+        vq = -1.0f;
+        wait(3);
+        */
+        
+        //toggle = state;
+        //state = !state;
     }
 }