69 lines
2.5 KiB
C
69 lines
2.5 KiB
C
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/****************************************************************************
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* apps/industry/foc/fixed16/foc_feedforward.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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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 <nuttx/config.h>
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#include <assert.h>
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#include "industry/foc/fixed16/foc_feedforward.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_feedforward_pmsm_b16
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*
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* Description:
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* Feed forward compensation for PMSM (fixed16)
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*
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* Input Parameter:
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* phy - motor physical parameters
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* idq - iqd frame
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* vel_now - electrical velocity
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* vdq_comp - compensation vdq frame
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*
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****************************************************************************/
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int foc_feedforward_pmsm_b16(FAR struct motor_phy_params_b16_s *phy,
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FAR dq_frame_b16_t *idq,
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fixed16 vel_now,
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FAR dq_frame_b16_t *vdq_comp)
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{
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DEBUGASSERT(phy);
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DEBUGASSERT(idq);
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DEBUGASSERT(vdq_comp);
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/* NOTE: vdq_comp is substracted from vdq_ref in foc_current_control()
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* so vq compensation must be negative here.
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*/
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vdq_comp->q = -b16mulb16(vel_now,
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(phy->flux_link + b16mulb16(phy->ind,
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idq->q)));
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vdq_comp->d = b16mulb16(b16mulb16(vel_now, phy->ind), idq->q)U;
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return OK;
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}
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