Shao Rui
1
Dependencies: mbed-dev-f303 FastPWM3
Diff: Calibration/calibration.cpp
- Revision:
- 54:4c9415402628
- Parent:
- 53:32218a36df05
- Child:
- 55:d614e29c60c5
--- a/Calibration/calibration.cpp Tue Sep 15 08:59:03 2020 +0000
+++ b/Calibration/calibration.cpp Thu Sep 17 07:49:27 2020 +0000
@@ -25,7 +25,7 @@
///Set voltage angle to zero, wait for rotor position to settle
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); //inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
for(int i = 0; i<20000; i++){
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
@@ -47,7 +47,7 @@
/// Rotate voltage angle
while(theta_ref < 4*PI){ //rotate for 2 electrical cycles
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); //inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
wait_us(100);
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); //Set duty cycles
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
@@ -98,7 +98,7 @@
///Set voltage angle to zero, wait for rotor position to settle
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
for(int i = 0; i<40000; i++){
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
if(PHASE_ORDER){
@@ -122,7 +122,7 @@
for(int j = 0; j<n2; j++){
theta_ref += delta;
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){ // Check phase ordering
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); // Set duty cycles
@@ -149,7 +149,7 @@
for(int j = 0; j<n2; j++){
theta_ref -= delta;
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
@@ -279,7 +279,7 @@
///Set voltage angle to zero, wait for rotor position to settle
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
for(int i = 0; i<40000; i++){
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
if(PHASE_ORDER){
@@ -305,7 +305,7 @@
//theta_joint_ref=theta_joint_ref- delta-theta_ref/GR;
theta_joint_ref-=delta;
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){ // Check phase ordering
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); // Set duty cycles
@@ -339,7 +339,7 @@
//theta_joint_ref=theta_joint_ref+delta+theta_ref/GR;
theta_joint_ref+=delta;
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
@@ -502,7 +502,7 @@
///Set voltage angle to zero, wait for rotor position to settle
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
for(int i = 0; i<40000; i++){
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
if(PHASE_ORDER){
@@ -529,7 +529,7 @@
// theta_joint_ref+=delta;
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){ // Check phase ordering
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); // Set duty cycles
@@ -561,7 +561,7 @@
//theta_joint_ref-=delta;
theta_joint_ref+=delta;
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
@@ -707,7 +707,7 @@
///Set voltage angle to zero, wait for rotor position to settle
abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
for(int i = 0; i<40000; i++){
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
if(PHASE_ORDER){
@@ -734,7 +734,7 @@
theta_joint_ref+=delta;
abc(theta_joint_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){ // Check phase ordering
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); // Set duty cycles
@@ -766,7 +766,7 @@
theta_joint_ref-=delta;
//theta_joint_ref+=delta;
abc( theta_joint_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
- svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
if(PHASE_ORDER){
TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);