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industry/foc foc_ident: improving the measuring of resistance

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zouboan 2022-05-28 21:05:50 +08:00 committed by Xiang Xiao
parent b065d72194
commit 5ae5ab7f44
1 changed files with 13 additions and 1 deletions
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14
industry/foc/float/foc_ident.c
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@ -164,6 +164,8 @@ int foc_ident_res_run_f32(FAR struct foc_ident_f32_s *ident,
int ret = FOC_ROUTINE_RUN_NOTDONE;
float err = 0.0f;
float vref = 0.0f;
static float curr_sum = 0.0f;
static float volt_sum = 0.0f;
/* Initialize PI controller */
@ -193,12 +195,17 @@ int foc_ident_res_run_f32(FAR struct foc_ident_f32_s *ident,
/* Increase counter */
ident->cntr += 1;
if (ident->cntr > (ident->cfg.res_steps / 3))
{
volt_sum += vector2d_mag(in->foc_state->vdq.q, in->foc_state->vdq.d);
curr_sum += vector2d_mag(in->foc_state->idq.q, in->foc_state->idq.d);
}
if (ident->cntr > ident->cfg.res_steps)
{
/* Get resistance */
ident->final.res = vref / ident->cfg.res_current;
ident->final.res = (2.0f / 3.0f) * volt_sum / curr_sum;
/* Force IDLE state */
@ -216,6 +223,11 @@ int foc_ident_res_run_f32(FAR struct foc_ident_f32_s *ident,
/* Reset counter */
ident->cntr = 0;
/* Reset static data */
curr_sum = 0.0f;
volt_sum = 0.0f;
}
return ret;