Revision 34:bfe180de813a, committed 2015-03-16

Comitter:

nki

Date:

Mon Mar 16 04:58:35 2015 +0000

Parent:

33:e7b132029bae

Child:

35:83cf9564bd0c

Commit message:

[WORKING] current loop closed, signs of (Iq, Id) and (Vq, Vd) aligned.

Changed in this revision

--- a/callbacks.cpp	Mon Mar 16 03:09:48 2015 +0000
+++ b/callbacks.cpp	Mon Mar 16 04:58:35 2015 +0000
@@ -17,8 +17,12 @@
     Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &q);
     
-    dbg_d_filtered = d_filtered = c->filter_d->Update(d);
-    dbg_q_filtered = q_filtered = c->filter_q->Update(q);
+    dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped  
+    dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. 
+    
+    //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque
+    //and that a positive vq command produced a reading of positive d axis torque.  
+    //This may be the final step in aligning the handedness of the reference and the output.
 
     c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
     
@@ -27,15 +31,10 @@
     dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
     dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
     
-    /*
-    vd = 0.0f;
-    vq = c->user->throttle;
-    */
+    InverseParke(vd, vq, angle, &valpha, &vbeta);
     
-    vd = 0.05f;
-    vq = 0.95f;
-    
-    InverseParke(vd, vq, angle, &valpha, &vbeta);
+    dbg_valpha = valpha;
+    dbg_vbeta = vbeta;
     
     c->modulator->Update(valpha, vbeta); 
 }
@@ -46,9 +45,10 @@
 
 void debug(Context *c) {
     //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
+    //c->serial->printf("%f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered);
 }
 
 void log(Context *c) {
-    c->debugger->Write(0, dbg_d_filtered);
-    c->debugger->Write(1, dbg_q_filtered);
+    //c->debugger->Write(0, dbg_loop_d);
+    //c->debugger->Write(1, dbg_loop_q);
 }
\ No newline at end of file

--- a/includes.h	Mon Mar 16 03:09:48 2015 +0000
+++ b/includes.h	Mon Mar 16 04:58:35 2015 +0000
@@ -25,5 +25,7 @@
 #define dbg_q_filtered debug_registers[11]
 #define dbg_ref_d debug_registers[12]
 #define dbg_ref_q debug_registers[13]
+#define dbg_valpha debug_registers[14]
+#define dbg_vbeta debug_registers[15]
 
 #endif
\ No newline at end of file

--- a/main.cpp	Mon Mar 16 03:09:48 2015 +0000
+++ b/main.cpp	Mon Mar 16 04:58:35 2015 +0000
@@ -11,11 +11,11 @@
     Context *context = new Context();
     context->ConfigureOutputs(D6, D13, D3, D8);
     context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
-    context->ConfigureIdPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
-    context->ConfigureIqPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
+    context->ConfigureIdPidController(0.0f, 0.0f, 0.0f, 1.0f, -1.0f);
+    context->ConfigureIqPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f);
     context->ConfigureThrottle(A0, 0.8f, 3.0f);
     context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
-    context->ConfigureReference(5.0f);
+    context->ConfigureReference(5.0f);  // max phase current
     context->ConfigureDebugger(2, 1000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);

--- a/meta/referencesynthesizers.cpp	Mon Mar 16 03:09:48 2015 +0000
+++ b/meta/referencesynthesizers.cpp	Mon Mar 16 04:58:35 2015 +0000
@@ -5,7 +5,7 @@
 #include "core.h"
 
 void SynchronousReferenceSynthesizer::GetReference(float angle, float throttle, float *ref_d, float *ref_q) {
-    *ref_d = 0.0f;
+    *ref_d = 0.00f;
     *ref_q = _max_phase_current * throttle;
 }