yezhong yezhong / Mbed 2 deprecated Joint_control_AS5147_DRV8323RH_200nm_PID

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Dependencies:   mbed FastPWM3

FOC/foc.cpp@50:3bda887997f0, 2021-11-04 (annotated)

Committer:
wyc136
Date:
Thu Nov 04 08:16:21 2021 +0000
Revision:
50:3bda887997f0
Parent:
44:efcde0af8390 
WYC ADD PID CONTROL

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 37:c0f352d6e8e3 1
benkatz 22:60276ba87ac6 2 #include "foc.h"
benkatz 26:2b865c00d7e9 3 using namespace FastMath;
wyc136 50:3bda887997f0 4 float pre_p_des1;
benkatz 22:60276ba87ac6 5
wyc136 50:3bda887997f0 6 float v1_error;
wyc136 50:3bda887997f0 7 float v_mech_error;
wyc136 50:3bda887997f0 8
wyc136 50:3bda887997f0 9 float pre_v_des1;
wyc136 50:3bda887997f0 10 float pre_dtheta_mech1;
wyc136 50:3bda887997f0 11 float torque_ref;
benkatz 22:60276ba87ac6 12
benkatz 22:60276ba87ac6 13 void abc( float theta, float d, float q, float *a, float *b, float *c){
benkatz 25:f5741040c4bb 14 /// Inverse DQ0 Transform ///
benkatz 22:60276ba87ac6 15 ///Phase current amplitude = lengh of dq vector///
benkatz 22:60276ba87ac6 16 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 37:c0f352d6e8e3 17 float cf = FastCos(theta);
benkatz 37:c0f352d6e8e3 18 float sf = FastSin(theta);
benkatz 37:c0f352d6e8e3 19
benkatz 37:c0f352d6e8e3 20 *a = cf*d - sf*q; // Faster Inverse DQ0 transform
benkatz 37:c0f352d6e8e3 21 *b = (0.86602540378f*sf-.5f*cf)*d - (-0.86602540378f*cf-.5f*sf)*q;
benkatz 37:c0f352d6e8e3 22 *c = (-0.86602540378f*sf-.5f*cf)*d - (0.86602540378f*cf-.5f*sf)*q;
benkatz 22:60276ba87ac6 23 }
benkatz 22:60276ba87ac6 24
benkatz 26:2b865c00d7e9 25
benkatz 22:60276ba87ac6 26 void dq0(float theta, float a, float b, float c, float *d, float *q){
benkatz 25:f5741040c4bb 27 /// DQ0 Transform ///
benkatz 22:60276ba87ac6 28 ///Phase current amplitude = lengh of dq vector///
benkatz 22:60276ba87ac6 29 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 22:60276ba87ac6 30
benkatz 37:c0f352d6e8e3 31 float cf = FastCos(theta);
benkatz 37:c0f352d6e8e3 32 float sf = FastSin(theta);
benkatz 26:2b865c00d7e9 33
benkatz 37:c0f352d6e8e3 34 *d = 0.6666667f*(cf*a + (0.86602540378f*sf-.5f*cf)*b + (-0.86602540378f*sf-.5f*cf)*c); ///Faster DQ0 Transform
benkatz 37:c0f352d6e8e3 35 *q = 0.6666667f*(-sf*a - (-0.86602540378f*cf-.5f*sf)*b - (0.86602540378f*cf-.5f*sf)*c);
benkatz 37:c0f352d6e8e3 36
benkatz 22:60276ba87ac6 37 }
benkatz 22:60276ba87ac6 38
benkatz 22:60276ba87ac6 39 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
benkatz 25:f5741040c4bb 40 /// Space Vector Modulation ///
benkatz 25:f5741040c4bb 41 /// u,v,w amplitude = v_bus for full modulation depth ///
benkatz 22:60276ba87ac6 42
benkatz 22:60276ba87ac6 43 float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f;
benkatz 31:61eb6ae28215 44 *dtc_u = fminf(fmaxf(((u -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 31:61eb6ae28215 45 *dtc_v = fminf(fmaxf(((v -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 31:61eb6ae28215 46 *dtc_w = fminf(fmaxf(((w -v_offset)/v_bus + .5f), DTC_MIN), DTC_MAX);
benkatz 22:60276ba87ac6 47
benkatz 22:60276ba87ac6 48 }
benkatz 22:60276ba87ac6 49
benkatz 25:f5741040c4bb 50 void zero_current(int *offset_1, int *offset_2){ // Measure zero-offset of the current sensors
benkatz 22:60276ba87ac6 51 int adc1_offset = 0;
benkatz 22:60276ba87ac6 52 int adc2_offset = 0;
benkatz 22:60276ba87ac6 53 int n = 1024;
benkatz 25:f5741040c4bb 54 for (int i = 0; i<n; i++){ // Average n samples of the ADC
benkatz 27:501fee691e0e 55 TIM1->CCR3 = (PWM_ARR>>1)*(1.0f); // Write duty cycles
benkatz 27:501fee691e0e 56 TIM1->CCR2 = (PWM_ARR>>1)*(1.0f);
benkatz 27:501fee691e0e 57 TIM1->CCR1 = (PWM_ARR>>1)*(1.0f);
benkatz 26:2b865c00d7e9 58 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 59 wait(.001);
benkatz 22:60276ba87ac6 60 adc2_offset += ADC2->DR;
benkatz 22:60276ba87ac6 61 adc1_offset += ADC1->DR;
benkatz 22:60276ba87ac6 62 }
benkatz 22:60276ba87ac6 63 *offset_1 = adc1_offset/n;
benkatz 22:60276ba87ac6 64 *offset_2 = adc2_offset/n;
benkatz 22:60276ba87ac6 65 }
benkatz 22:60276ba87ac6 66
benkatz 22:60276ba87ac6 67 void reset_foc(ControllerStruct *controller){
benkatz 28:8c7e29f719c5 68 TIM1->CCR3 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 69 TIM1->CCR1 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 70 TIM1->CCR2 = (PWM_ARR>>1)*(0.5f);
benkatz 28:8c7e29f719c5 71 controller->i_d_ref = 0;
benkatz 28:8c7e29f719c5 72 controller->i_q_ref = 0;
benkatz 28:8c7e29f719c5 73 controller->i_d = 0;
benkatz 28:8c7e29f719c5 74 controller->i_q = 0;
benkatz 37:c0f352d6e8e3 75 controller->i_q_filt = 0;
benkatz 22:60276ba87ac6 76 controller->q_int = 0;
benkatz 22:60276ba87ac6 77 controller->d_int = 0;
benkatz 28:8c7e29f719c5 78 controller->v_q = 0;
benkatz 28:8c7e29f719c5 79 controller->v_d = 0;
wyc136 50:3bda887997f0 80 //**************WYC ADD*******************2021/11/4************//
wyc136 50:3bda887997f0 81 controller->integral_prev = 0;
wyc136 50:3bda887997f0 82 controller->output_prev = 0;
wyc136 50:3bda887997f0 83 controller->error_prev = 0;
wyc136 50:3bda887997f0 84 controller->timestamp_prev = 0;
wyc136 50:3bda887997f0 85 controller->error = 0;
wyc136 50:3bda887997f0 86 //**************WYC END*******************2021/11/4************//
benkatz 22:60276ba87ac6 87 }
benkatz 22:60276ba87ac6 88
benkatz 22:60276ba87ac6 89
benkatz 37:c0f352d6e8e3 90 void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta){
benkatz 37:c0f352d6e8e3 91 /// Observer Prediction ///
benkatz 37:c0f352d6e8e3 92 observer->i_d_est += DT*(observer->i_d_dot);
benkatz 37:c0f352d6e8e3 93 observer->i_q_est += DT*(observer->i_q_dot);
benkatz 37:c0f352d6e8e3 94
benkatz 25:f5741040c4bb 95 /// Commutation Loop ///
benkatz 25:f5741040c4bb 96 controller->loop_count ++;
benkatz 25:f5741040c4bb 97 if(PHASE_ORDER){ // Check current sensor ordering
benkatz 25:f5741040c4bb 98 controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); // Calculate phase currents from ADC readings
benkatz 22:60276ba87ac6 99 controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
benkatz 22:60276ba87ac6 100 }
benkatz 22:60276ba87ac6 101 else{
benkatz 25:f5741040c4bb 102 controller->i_b = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
benkatz 22:60276ba87ac6 103 controller->i_c = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);
benkatz 22:60276ba87ac6 104 }
benkatz 26:2b865c00d7e9 105 controller->i_a = -controller->i_b - controller->i_c;
benkatz 22:60276ba87ac6 106
benkatz 26:2b865c00d7e9 107 float s = FastSin(theta);
benkatz 26:2b865c00d7e9 108 float c = FastCos(theta);
benkatz 44:efcde0af8390 109 dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
benkatz 44:efcde0af8390 110 //controller->i_d = 0.6666667f*(c*controller->i_a + (0.86602540378f*s-.5f*c)*controller->i_b + (-0.86602540378f*s-.5f*c)*controller->i_c); ///Faster DQ0 Transform
benkatz 44:efcde0af8390 111 //controller->i_q = 0.6666667f*(-s*controller->i_a - (-0.86602540378f*c-.5f*s)*controller->i_b - (0.86602540378f*c-.5f*s)*controller->i_c);
benkatz 37:c0f352d6e8e3 112
benkatz 37:c0f352d6e8e3 113 controller->i_q_filt = 0.95f*controller->i_q_filt + 0.05f*controller->i_q;
benkatz 37:c0f352d6e8e3 114 observer->i_d_m = controller->i_d;
benkatz 37:c0f352d6e8e3 115 observer->i_q_m = controller->i_q;
benkatz 37:c0f352d6e8e3 116
benkatz 37:c0f352d6e8e3 117 observer->e_d = observer->i_d_m - observer->i_d_est;
benkatz 37:c0f352d6e8e3 118 observer->e_q = observer->i_q_m - observer->i_q_est;
benkatz 37:c0f352d6e8e3 119 observer->e_d_int += observer->e_d;
benkatz 37:c0f352d6e8e3 120 observer->e_q_int += observer->e_q;
benkatz 37:c0f352d6e8e3 121
benkatz 37:c0f352d6e8e3 122 observer->i_d_est += K_O*observer->e_d + .001f*observer->e_d_int;
benkatz 37:c0f352d6e8e3 123 observer->i_q_est += K_O*observer->e_q + .001f*observer->e_q_int;
benkatz 37:c0f352d6e8e3 124
benkatz 37:c0f352d6e8e3 125
benkatz 38:67e4e1453a4b 126 float scog12 = FastSin(12.0f*theta);
benkatz 38:67e4e1453a4b 127 float scog1 = s;
benkatz 38:67e4e1453a4b 128 float cogging_current = 0.25f*scog1 - 0.3f*scog12;
benkatz 25:f5741040c4bb 129
benkatz 25:f5741040c4bb 130 /// PI Controller ///
benkatz 22:60276ba87ac6 131 float i_d_error = controller->i_d_ref - controller->i_d;
benkatz 38:67e4e1453a4b 132 float i_q_error = controller->i_q_ref - controller->i_q + cogging_current;
benkatz 37:c0f352d6e8e3 133
benkatz 37:c0f352d6e8e3 134 float v_d_ff = 2.0f*(controller->i_d_ref*R_PHASE - controller->dtheta_elec*L_Q*controller->i_q_ref); //feed-forward voltages
benkatz 37:c0f352d6e8e3 135 float v_q_ff = 2.0f*(controller->i_q_ref*R_PHASE + controller->dtheta_elec*(L_D*controller->i_d_ref + WB));
benkatz 37:c0f352d6e8e3 136
benkatz 22:60276ba87ac6 137 controller->d_int += i_d_error;
benkatz 22:60276ba87ac6 138 controller->q_int += i_q_error;
benkatz 22:60276ba87ac6 139
benkatz 22:60276ba87ac6 140 //v_d_ff = 0;
benkatz 22:60276ba87ac6 141 //v_q_ff = 0;
benkatz 22:60276ba87ac6 142
benkatz 31:61eb6ae28215 143 limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_SCALE*I_BW*KI_Q)); // Limit integrators to prevent windup
benkatz 31:61eb6ae28215 144 controller->v_d = K_SCALE*I_BW*i_d_error + K_SCALE*I_BW*KI_D*controller->d_int;// + v_d_ff;
benkatz 31:61eb6ae28215 145 controller->v_q = K_SCALE*I_BW*i_q_error + K_SCALE*I_BW*KI_Q*controller->q_int;// + v_q_ff;
benkatz 22:60276ba87ac6 146
benkatz 34:51647c6c500d 147 //controller->v_q = 4.0f;
benkatz 28:8c7e29f719c5 148 //controller->v_d = 0.0f;
benkatz 28:8c7e29f719c5 149
benkatz 22:60276ba87ac6 150 //controller->v_d = v_d_ff;
benkatz 22:60276ba87ac6 151 //controller->v_q = v_q_ff;
benkatz 22:60276ba87ac6 152
benkatz 44:efcde0af8390 153 limit_norm(&controller->v_d, &controller->v_q, OVERMODULATION*controller->v_bus); // Normalize voltage vector to lie within curcle of radius v_bus
benkatz 44:efcde0af8390 154 abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
benkatz 26:2b865c00d7e9 155
benkatz 44:efcde0af8390 156 //controller->v_u = c*controller->v_d - s*controller->v_q; // Faster Inverse DQ0 transform
benkatz 44:efcde0af8390 157 //controller->v_v = (0.86602540378f*s-.5f*c)*controller->v_d - (-0.86602540378f*c-.5f*s)*controller->v_q;
benkatz 44:efcde0af8390 158 //controller->v_w = (-0.86602540378f*s-.5f*c)*controller->v_d - (0.86602540378f*c-.5f*s)*controller->v_q;
benkatz 22:60276ba87ac6 159 svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
benkatz 22:60276ba87ac6 160
benkatz 37:c0f352d6e8e3 161 observer->i_d_dot = 0.5f*(controller->v_d - 2.0f*(observer->i_d_est*R_PHASE - controller->dtheta_elec*L_Q*observer->i_q_est))/L_D; //feed-forward voltage
benkatz 37:c0f352d6e8e3 162 observer->i_q_dot = 0.5f*(controller->v_q - 2.0f*(observer->i_q_est*R_PHASE + controller->dtheta_elec*(L_D*observer->i_d_est + WB)))/L_Q;
benkatz 22:60276ba87ac6 163
benkatz 25:f5741040c4bb 164 if(PHASE_ORDER){ // Check which phase order to use,
benkatz 31:61eb6ae28215 165 TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u); // Write duty cycles
benkatz 31:61eb6ae28215 166 TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_v);
benkatz 31:61eb6ae28215 167 TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_w);
benkatz 22:60276ba87ac6 168 }
benkatz 22:60276ba87ac6 169 else{
benkatz 32:ccac5da77844 170 TIM1->CCR3 = (PWM_ARR)*(1.0f-controller->dtc_u);
benkatz 32:ccac5da77844 171 TIM1->CCR1 = (PWM_ARR)*(1.0f-controller->dtc_v);
benkatz 32:ccac5da77844 172 TIM1->CCR2 = (PWM_ARR)*(1.0f-controller->dtc_w);
benkatz 22:60276ba87ac6 173 }
benkatz 25:f5741040c4bb 174
benkatz 25:f5741040c4bb 175 controller->theta_elec = theta; //For some reason putting this at the front breaks thins
benkatz 22:60276ba87ac6 176
benkatz 22:60276ba87ac6 177
benkatz 31:61eb6ae28215 178 if(controller->loop_count >400){
benkatz 22:60276ba87ac6 179 //controller->i_q_ref = -controller->i_q_ref;
benkatz 26:2b865c00d7e9 180 controller->loop_count = 0;
benkatz 22:60276ba87ac6 181
benkatz 28:8c7e29f719c5 182 //printf("%.2f %.2f %.2f\n\r", controller->i_a, controller->i_b, controller->i_c);
benkatz 31:61eb6ae28215 183 //printf("%f\n\r", controller->dtheta_mech*GR);
benkatz 22:60276ba87ac6 184 //pc.printf("%f %f %f\n\r", controller->i_a, controller->i_b, controller->i_c);
benkatz 22:60276ba87ac6 185 //pc.printf("%f %f\n\r", controller->i_d, controller->i_q);
benkatz 22:60276ba87ac6 186 //pc.printf("%d %d\n\r", controller->adc1_raw, controller->adc2_raw);
benkatz 26:2b865c00d7e9 187 }
benkatz 22:60276ba87ac6 188 }
benkatz 26:2b865c00d7e9 189
benkatz 26:2b865c00d7e9 190
benkatz 26:2b865c00d7e9 191 void torque_control(ControllerStruct *controller){
wyc136 50:3bda887997f0 192 v1_error = controller->v_des - pre_p_des1;
wyc136 50:3bda887997f0 193 v_mech_error = controller->dtheta_mech - pre_dtheta_mech1;
wyc136 50:3bda887997f0 194 //if(controller->p_des !=pre_p_des1){
wyc136 50:3bda887997f0 195 torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(controller->v_des - controller->dtheta_mech);
wyc136 50:3bda887997f0 196 //}
wyc136 50:3bda887997f0 197 //else{
wyc136 50:3bda887997f0 198 // torque_ref = controller->kp*(controller->v_des - controller->dtheta_mech) +controller->kd*(v1_error - v_mech_error);
wyc136 50:3bda887997f0 199 // }
benkatz 26:2b865c00d7e9 200 //float torque_ref = -.1*(controller->p_des - controller->theta_mech);
benkatz 26:2b865c00d7e9 201 controller->i_q_ref = torque_ref/KT_OUT;
benkatz 37:c0f352d6e8e3 202 controller->i_d_ref = 0.0f;
wyc136 50:3bda887997f0 203
wyc136 50:3bda887997f0 204 pre_p_des1 = controller->p_des;
wyc136 50:3bda887997f0 205 pre_v_des1 = controller->v_des;
wyc136 50:3bda887997f0 206 pre_dtheta_mech1 = controller->dtheta_mech;
wyc136 50:3bda887997f0 207 }
benkatz 26:2b865c00d7e9 208
benkatz 26:2b865c00d7e9 209
benkatz 22:60276ba87ac6 210 /*
benkatz 22:60276ba87ac6 211 void zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){
benkatz 22:60276ba87ac6 212
benkatz 22:60276ba87ac6 213 }
wyc136 50:3bda887997f0 214 */
wyc136 50:3bda887997f0 215 /**********************************WYC 2021.10.22*****************************************/
wyc136 50:3bda887997f0 216 float PID_operator (ControllerStruct *controller){
wyc136 50:3bda887997f0 217 //printf("piding");
wyc136 50:3bda887997f0 218 // calculate the time from the last call
wyc136 50:3bda887997f0 219 unsigned long timestamp_now = controller->loop_count; //check the loop_count
wyc136 50:3bda887997f0 220 float Ts = (timestamp_now - controller->timestamp_prev) * DT;
wyc136 50:3bda887997f0 221 //printf("ts:%f\n",Ts);
wyc136 50:3bda887997f0 222
wyc136 50:3bda887997f0 223 // quick fix for strange cases (micros overflow)
wyc136 50:3bda887997f0 224 if(Ts <= 0 || Ts > 0.5f) Ts = 0.001;
wyc136 50:3bda887997f0 225
wyc136 50:3bda887997f0 226 // u(s) = (P + I/s + Ds)e(s)
wyc136 50:3bda887997f0 227 // Discrete implementations
wyc136 50:3bda887997f0 228 // proportional part
wyc136 50:3bda887997f0 229 // u_p = P *e(k)
wyc136 50:3bda887997f0 230 float error = controller->error;
wyc136 50:3bda887997f0 231 float proportional = controller->kp * error;
wyc136 50:3bda887997f0 232 // Tustin transform of the integral part
wyc136 50:3bda887997f0 233 // u_ik = u_ik_1 + I*Ts/2*(ek + ek_1)
wyc136 50:3bda887997f0 234 float integral = controller->integral_prev + controller->ki*Ts*0.5f*(error + controller->error_prev);
wyc136 50:3bda887997f0 235 // antiwindup - limit the output
wyc136 50:3bda887997f0 236 limit(&integral, -(controller->LIMIT), controller->LIMIT);
wyc136 50:3bda887997f0 237 // Discrete derivation
wyc136 50:3bda887997f0 238 // u_dk = D(ek - ek_1)/Ts
wyc136 50:3bda887997f0 239 float derivative = controller->kd*(error - controller->error_prev)/Ts;
wyc136 50:3bda887997f0 240
wyc136 50:3bda887997f0 241 // sum all the components
wyc136 50:3bda887997f0 242 float output = proportional + integral + derivative;
wyc136 50:3bda887997f0 243 // antiwindup - limit the output variable
wyc136 50:3bda887997f0 244
wyc136 50:3bda887997f0 245 //limit(&output, -(controller->LIMIT), controller->LIMIT);
wyc136 50:3bda887997f0 246
wyc136 50:3bda887997f0 247 /*
wyc136 50:3bda887997f0 248 // if output ramp defined
wyc136 50:3bda887997f0 249 if(output_ramp > 0){
wyc136 50:3bda887997f0 250 // limit the acceleration by ramping the output
wyc136 50:3bda887997f0 251 float output_rate = (output - output_prev)/Ts;
wyc136 50:3bda887997f0 252 if (output_rate > output_ramp)
wyc136 50:3bda887997f0 253 output = output_prev + output_ramp*Ts;
wyc136 50:3bda887997f0 254 else if (output_rate < -output_ramp)
wyc136 50:3bda887997f0 255 output = output_prev - output_ramp*Ts;
wyc136 50:3bda887997f0 256 }
wyc136 50:3bda887997f0 257 */
wyc136 50:3bda887997f0 258 // saving for the next pass
wyc136 50:3bda887997f0 259 controller->integral_prev = integral;
wyc136 50:3bda887997f0 260 controller->output_prev = output;
wyc136 50:3bda887997f0 261 controller->error_prev = error;
wyc136 50:3bda887997f0 262 controller->timestamp_prev = timestamp_now;
wyc136 50:3bda887997f0 263 return output;
wyc136 50:3bda887997f0 264 }
wyc136 50:3bda887997f0 265 /*********WYC ADD 2021.10.22**********/
wyc136 50:3bda887997f0 266
wyc136 50:3bda887997f0 267 void velocity_control(ControllerStruct *controller){
wyc136 50:3bda887997f0 268
wyc136 50:3bda887997f0 269 controller->ki = controller->kd;
wyc136 50:3bda887997f0 270 controller->kd = 0;
wyc136 50:3bda887997f0 271 controller->error = (controller->v_des - controller->dtheta_mech);
wyc136 50:3bda887997f0 272
wyc136 50:3bda887997f0 273 float current_sp = PID_operator (controller);
wyc136 50:3bda887997f0 274 controller->i_q_ref = current_sp; //wyc 2021.07.26 compared with the program in mbed,old motor with no "-"in the front of "torque_des"
wyc136 50:3bda887997f0 275 //printf("iq:%f\n",controller->i_q_des);
wyc136 50:3bda887997f0 276 controller->i_d_ref = 0.0f;
wyc136 50:3bda887997f0 277
wyc136 50:3bda887997f0 278 }
wyc136 50:3bda887997f0 279 /*********WYC ADD 2021.10.22**********/