494 lines
14 KiB
C
494 lines
14 KiB
C
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/****************************************************************************
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* examples/dsptest/test_foc.c
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*
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* Copyright (C) 2018 Gregory Nutt. All rights reserved.
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* Author: Mateusz Szafoni <raiden00@railab.me>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "dsptest.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Set float precision for this module */
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#undef UNITY_FLOAT_PRECISION
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#if CONFIG_LIBDSP_PRECISION == 1
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# define UNITY_FLOAT_PRECISION (0.1f)
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#elif CONFIG_LIBDSP_PRECISION == 2
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# define UNITY_FLOAT_PRECISION (0.001f)
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#else
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# define UNITY_FLOAT_PRECISION (0.999f)
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#endif
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/* Value close enough to zero */
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#define TEST_ASSERT_EQUAL_FLOAT_ZERO(a) \
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TEST_ASSERT_FLOAT_WITHIN(1e-6, 0.0, a);
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Protototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/* Initialize FOC data */
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static void test_foc_init(void)
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{
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struct foc_data_s foc;
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float id_kp = 1.0;
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float id_ki = 2.0;
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float iq_kp = 3.0;
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float iq_ki = 4.0;
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foc_init(&foc, id_kp, id_ki, iq_kp, iq_ki);
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TEST_ASSERT_EQUAL_FLOAT(1.0, foc.id_pid.KP);
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TEST_ASSERT_EQUAL_FLOAT(2.0, foc.id_pid.KI);
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TEST_ASSERT_EQUAL_FLOAT(0.0, foc.id_pid.KD);
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TEST_ASSERT_EQUAL_FLOAT(3.0, foc.iq_pid.KP);
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TEST_ASSERT_EQUAL_FLOAT(4.0, foc.iq_pid.KI);
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TEST_ASSERT_EQUAL_FLOAT(0.0, foc.iq_pid.KD);
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foc_idq_ref_set(&foc, 1.0, 2.0);
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TEST_ASSERT_EQUAL_FLOAT(1.0, foc.i_dq_ref.d);
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TEST_ASSERT_EQUAL_FLOAT(2.0, foc.i_dq_ref.q);
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foc_vbase_update(&foc, 0.1);
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TEST_ASSERT_EQUAL_FLOAT(0.1, 1.0/foc.vab_mod_scale);
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TEST_ASSERT_EQUAL_FLOAT(0.1, foc.vdq_mag_max);
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}
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/* Feed FOC with zeros */
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static void test_foc_process_zeros(void)
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{
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struct foc_data_s foc;
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float id_kp = 1.00;
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float id_ki = 0.01;
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float iq_kp = 1.00;
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float iq_ki = 0.01;
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abc_frame_t i_abc;
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phase_angle_t angle;
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/* Initialize FOC */
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foc_init(&foc, id_kp, id_ki, iq_kp, iq_ki);
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/* Input:
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* abc = (0.0, 0.0, 0.0)
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* i_dq_ref = (1.0, 1.0)
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* vab_scale = 1.0
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* vdq_mag_max = 1.0
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* angle = 0.0
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*
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* Expected:
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* i_ab = (0.0, 0.0)
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* i_dq = (0.0, 0.0)
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* v_dq = (0.0, 0.0)
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* v_ab = (0.0, 0.0)
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* v_ab_mod = (0.0, 0.0)
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*/
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i_abc.a = 0.0;
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i_abc.b = 0.0;
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i_abc.c = 0.0;
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phase_angle_update(&angle, 0.0);
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foc_idq_ref_set(&foc, 0.0, 0.0);
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foc_vbase_update(&foc, 1.0);
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foc_process(&foc, &i_abc, &angle);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab.a);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab.b);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab_mod.a);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab_mod.b);
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/* Input:
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* abc = (1.0, -0.5, -0.5)
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* i_dq_ref = (1.0, 0.0)
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* vab_scale = 1.0
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* vdq_mag_max = 1.0
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* angle = 0.0
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*
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* Expected:
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* i_ab = (1.0, 0.0)
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* i_dq = (1.0, 0.0)
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* v_dq = (0.0, 0.0)
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* v_ab = (0.0, 0.0)
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* v_ab_mod = (0.0, 0.0)
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*/
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i_abc.a = 1.0;
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i_abc.b = -0.5;
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i_abc.c = -0.5;
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foc_idq_ref_set(&foc, 1.0, 0.0);
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foc_vbase_update(&foc, 1.0);
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phase_angle_update(&angle, 0.0);
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foc_process(&foc, &i_abc, &angle);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab.a);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab.b);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab_mod.a);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab_mod.b);
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/* Input:
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* abc = (-1.0, 0.5, 0.5)
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* i_dq_ref = (-1.0, 0.0)
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* vab_scale = 1.0
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* vdq_mag_max = 1.0
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* angle = 0.0
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*
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* Expected:
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* i_ab = (-1.0, 0.0)
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* i_dq = (-1.0, 0.0)
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* v_dq = (0.0, 0.0)
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* v_ab = (0.0, 0.0)
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* v_ab_mod = (0.0, 0.0)
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*/
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i_abc.a = -1.0;
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i_abc.b = 0.5;
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i_abc.c = 0.5;
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foc_idq_ref_set(&foc, -1.0, 0.0);
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foc_vbase_update(&foc, 1.0);
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phase_angle_update(&angle, 0.0);
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foc_process(&foc, &i_abc, &angle);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab.a);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab.b);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab_mod.a);
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TEST_ASSERT_EQUAL_FLOAT_ZERO(foc.v_ab_mod.b);
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}
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/* Proces FOC with some test data */
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static void test_foc_process(void)
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{
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struct foc_data_s foc;
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float id_kp = 1.00;
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float id_ki = 0.00;
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float iq_kp = 1.00;
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float iq_ki = 0.00;
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abc_frame_t i_abc;
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phase_angle_t angle;
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float i_d_ref = 0.0;
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float i_q_ref = 0.0;
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/* Initialize FOC.
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* For simplicity KP = 1.0, KI = 0.0
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*/
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foc_init(&foc, id_kp, id_ki, iq_kp, iq_ki);
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/* Input:
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* abc = (1.0, 1.0, -2.0)
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* i_dq_ref = (2.0, 2.0)
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* vab_scale = 0.1
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* vdq_mag_max = 10.0
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* angle = PI
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*
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* Expected:
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* i_ab = (1.0, 1.7320)
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* i_dq = (-1.0, -1.7320)
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* v_dq = (3.0, 3.7320)
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* v_ab = (0.30, 0.37320)
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* v_ab_mod = (0.30, 0.37320)
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*/
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i_abc.a = 1.0;
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i_abc.b = 1.0;
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i_abc.c = -2.0;
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i_d_ref = 2.0;
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i_q_ref = 2.0;
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phase_angle_update(&angle, M_PI_F);
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foc_idq_ref_set(&foc, i_d_ref, i_q_ref);
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foc_vbase_update(&foc, 10.0);
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foc_process(&foc, &i_abc, &angle);
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TEST_ASSERT_EQUAL_FLOAT(1.0 , foc.i_ab.a);
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TEST_ASSERT_EQUAL_FLOAT(1.7320 , foc.i_ab.b);
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TEST_ASSERT_EQUAL_FLOAT(-1.0 , foc.i_dq.d);
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TEST_ASSERT_EQUAL_FLOAT(-1.7320, foc.i_dq.q);
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TEST_ASSERT_EQUAL_FLOAT(3.0 , foc.v_dq.d);
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TEST_ASSERT_EQUAL_FLOAT(3.7320 , foc.v_dq.q);
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TEST_ASSERT_EQUAL_FLOAT(-3.0 , foc.v_ab.a);
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TEST_ASSERT_EQUAL_FLOAT(-3.7320, foc.v_ab.b);
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TEST_ASSERT_EQUAL_FLOAT(-0.3 , foc.v_ab_mod.a);
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TEST_ASSERT_EQUAL_FLOAT(-0.3732, foc.v_ab_mod.b);
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/* Input:
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* abc = (1.0, 1.0, -2.0)
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* i_dq_ref = (2.0, 2.0)
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* vab_scale = 0.1
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* vdq_mag_max = 10
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* angle = -PI
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*
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* Expected:
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* i_ab = (1.0, 1.7320)
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* i_dq = (-1.0, -1.7320)
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* v_dq = (3.0, 3.7320)
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* v_ab = (-0.30, -0.37320)
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* v_ab_mod = (-0.30, -0.37320)
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*/
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i_abc.a = 1.0;
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i_abc.b = 1.0;
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i_abc.c = -2.0;
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i_d_ref = 2.0;
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i_q_ref = 2.0;
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phase_angle_update(&angle, -M_PI_F);
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foc_idq_ref_set(&foc, i_d_ref, i_q_ref);
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foc_vbase_update(&foc, 10.0);
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foc_process(&foc, &i_abc, &angle);
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TEST_ASSERT_EQUAL_FLOAT(1.0 , foc.i_ab.a);
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TEST_ASSERT_EQUAL_FLOAT(1.7320 , foc.i_ab.b);
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TEST_ASSERT_EQUAL_FLOAT(-1.0 , foc.i_dq.d);
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TEST_ASSERT_EQUAL_FLOAT(-1.7320, foc.i_dq.q);
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TEST_ASSERT_EQUAL_FLOAT(3.0 , foc.v_dq.d);
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TEST_ASSERT_EQUAL_FLOAT(3.7320 , foc.v_dq.q);
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TEST_ASSERT_EQUAL_FLOAT(-3.0 , foc.v_ab.a);
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TEST_ASSERT_EQUAL_FLOAT(-3.7320, foc.v_ab.b);
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TEST_ASSERT_EQUAL_FLOAT(-0.30 , foc.v_ab_mod.a);
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TEST_ASSERT_EQUAL_FLOAT(-0.3732, foc.v_ab_mod.b);
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/* Input:
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* abc = (1.0, 1.0, -2.0)
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* i_dq_ref = (2.0, 2.0)
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* vab_scale = 0.1
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* vdq_mag_max = 10
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* angle = 0.1
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*
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* Expected:
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* i_ab = (1.0, 1.7320)
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* i_dq = (1.1679, 1.6236)
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* v_dq = (0.8321, 0.3764)
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* v_ab = (0.7903, 0.4576)
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* v_ab_mod = (0.07903, 0.04576)
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*/
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i_abc.a = 1.0;
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i_abc.b = 1.0;
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i_abc.c = -2.0;
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i_d_ref = 2.0;
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i_q_ref = 2.0;
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phase_angle_update(&angle, 0.1);
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foc_idq_ref_set(&foc, i_d_ref, i_q_ref);
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foc_vbase_update(&foc, 10.0);
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foc_process(&foc, &i_abc, &angle);
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TEST_ASSERT_EQUAL_FLOAT(1.0 , foc.i_ab.a);
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TEST_ASSERT_EQUAL_FLOAT(1.7320 , foc.i_ab.b);
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TEST_ASSERT_EQUAL_FLOAT(1.1679 , foc.i_dq.d);
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TEST_ASSERT_EQUAL_FLOAT(1.6236 , foc.i_dq.q);
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TEST_ASSERT_EQUAL_FLOAT(0.8321 , foc.v_dq.d);
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TEST_ASSERT_EQUAL_FLOAT(0.3764 , foc.v_dq.q);
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TEST_ASSERT_EQUAL_FLOAT(0.7903 , foc.v_ab.a);
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TEST_ASSERT_EQUAL_FLOAT(0.4576 , foc.v_ab.b);
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TEST_ASSERT_EQUAL_FLOAT(0.07903, foc.v_ab_mod.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(0.04576, foc.v_ab_mod.b);
|
||
|
|
|
||
|
|
/* Input:
|
||
|
|
* abc = (1.0, 1.0, -2.0)
|
||
|
|
* i_dq_ref = (2.0, 2.0)
|
||
|
|
* vab_scale = 0.1
|
||
|
|
* vdq_mag_max = 10.0
|
||
|
|
* angle = -0.1
|
||
|
|
*
|
||
|
|
* Expected:
|
||
|
|
* i_ab = (1.0 , 1.7320)
|
||
|
|
* i_dq = (0.8221, 1.8232)
|
||
|
|
* v_dq = (1.1779, 0.1768)
|
||
|
|
* v_ab = (0.11897, 0.00583)
|
||
|
|
* v_ab_mod = (0.11897, 0.00583)
|
||
|
|
*/
|
||
|
|
|
||
|
|
i_abc.a = 1.0;
|
||
|
|
i_abc.b = 1.0;
|
||
|
|
i_abc.c = -2.0;
|
||
|
|
i_d_ref = 2.0;
|
||
|
|
i_q_ref = 2.0;
|
||
|
|
phase_angle_update(&angle, -0.1);
|
||
|
|
foc_idq_ref_set(&foc, i_d_ref, i_q_ref);
|
||
|
|
foc_vbase_update(&foc, 10.0);
|
||
|
|
|
||
|
|
foc_process(&foc, &i_abc, &angle);
|
||
|
|
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.0, foc.i_ab.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.7320, foc.i_ab.b);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(0.8221, foc.i_dq.d);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.8232, foc.i_dq.q);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.1779, foc.v_dq.d);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(0.1768, foc.v_dq.q);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.1897, foc.v_ab.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(0.0583, foc.v_ab.b);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(0.11897, foc.v_ab_mod.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(0.00583, foc.v_ab_mod.b);
|
||
|
|
|
||
|
|
/* Input:
|
||
|
|
* abc = (1.0, 1.0, -2.0)
|
||
|
|
* i_dq_ref = (-2.0, 0.0)
|
||
|
|
* vab_scale = 0.1
|
||
|
|
* vdq_mag_max = 10.0
|
||
|
|
* angle = 0.1
|
||
|
|
*
|
||
|
|
* Expected:
|
||
|
|
* i_ab = (1.0, 1.7320)
|
||
|
|
* i_dq = (1.1679, 1.6236)
|
||
|
|
* v_dq = (-3.1679, -1.6236)
|
||
|
|
* v_ab = (-0.29900, -0.19317)
|
||
|
|
* v_ab_mod = (-0.29900, -0.19317)
|
||
|
|
*/
|
||
|
|
|
||
|
|
i_abc.a = 1.0;
|
||
|
|
i_abc.b = 1.0;
|
||
|
|
i_abc.c = -2.0;
|
||
|
|
i_d_ref = -2.0;
|
||
|
|
i_q_ref = 0.0;
|
||
|
|
phase_angle_update(&angle, 0.1);
|
||
|
|
foc_idq_ref_set(&foc, i_d_ref, i_q_ref);
|
||
|
|
foc_vbase_update(&foc, 10.0);
|
||
|
|
|
||
|
|
foc_process(&foc, &i_abc, &angle);
|
||
|
|
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.0 , foc.i_ab.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.7320 , foc.i_ab.b);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.1679 , foc.i_dq.d);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.6236 , foc.i_dq.q);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-3.1679 , foc.v_dq.d);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-1.6236 , foc.v_dq.q);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-2.9900 , foc.v_ab.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-1.9317 , foc.v_ab.b);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-0.29900 , foc.v_ab_mod.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-0.19317 , foc.v_ab_mod.b);
|
||
|
|
|
||
|
|
/* Input:
|
||
|
|
* abc = (1.0, 1.0, -2.0)
|
||
|
|
* i_dq_ref = (-2.0, -2.0)
|
||
|
|
* vab_scale = 0.1
|
||
|
|
* vdq_mag_max = 10.0
|
||
|
|
* angle = 0.1
|
||
|
|
*
|
||
|
|
* Expected:
|
||
|
|
* i_ab = (1.0, 1.7320)
|
||
|
|
* i_dq = (1.1679, 1.6236)
|
||
|
|
* v_dq = (-3.1679, -3.6236)
|
||
|
|
* v_ab = (-0.27903, -0.39217)
|
||
|
|
* v_ab_mod = (-0.27903, -0.39217)
|
||
|
|
*/
|
||
|
|
|
||
|
|
i_abc.a = 1.0;
|
||
|
|
i_abc.b = 1.0;
|
||
|
|
i_abc.c = -2.0;
|
||
|
|
i_d_ref = -2.0;
|
||
|
|
i_q_ref = -2.0;
|
||
|
|
phase_angle_update(&angle, 0.1);
|
||
|
|
foc_idq_ref_set(&foc, i_d_ref, i_q_ref);
|
||
|
|
foc_vbase_update(&foc, 10.0);
|
||
|
|
|
||
|
|
foc_process(&foc, &i_abc, &angle);
|
||
|
|
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.0 , foc.i_ab.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.7320 , foc.i_ab.b);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.1679 , foc.i_dq.d);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(1.6236 , foc.i_dq.q);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-3.1679 , foc.v_dq.d);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-3.6236 , foc.v_dq.q);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-2.7903 , foc.v_ab.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-3.9217 , foc.v_ab.b);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-0.27903, foc.v_ab_mod.a);
|
||
|
|
TEST_ASSERT_EQUAL_FLOAT(-0.39217, foc.v_ab_mod.b);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Test FOC saturation */
|
||
|
|
|
||
|
|
static void test_foc_saturation(void)
|
||
|
|
{
|
||
|
|
TEST_FAIL_MESSAGE("not implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Test FOC vdq modulation */
|
||
|
|
|
||
|
|
static void test_foc_vdq_modulation(void)
|
||
|
|
{
|
||
|
|
TEST_FAIL_MESSAGE("not implemented");
|
||
|
|
}
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public Functions
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Name: test_foc
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
void test_foc(void)
|
||
|
|
{
|
||
|
|
UNITY_BEGIN();
|
||
|
|
|
||
|
|
TEST_SEPARATOR();
|
||
|
|
|
||
|
|
/* Test FOC */
|
||
|
|
|
||
|
|
RUN_TEST(test_foc_init);
|
||
|
|
RUN_TEST(test_foc_process_zeros);
|
||
|
|
RUN_TEST(test_foc_process);
|
||
|
|
RUN_TEST(test_foc_saturation);
|
||
|
|
RUN_TEST(test_foc_vdq_modulation);
|
||
|
|
|
||
|
|
UNITY_END();
|
||
|
|
}
|