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industry/foc: add support for PMSM feedforward compensation

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reference: https://electronics.stackexchange.com/questions/386246/field-oriented-control-feed-forward-term
This commit is contained in:
raiden00pl 2023-10-12 12:40:14 +02:00 committed by Xiang Xiao
parent e8ff9ad005
commit 6cf6a73fc0
7 changed files with 250 additions and 2 deletions
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45
include/industry/foc/fixed16/foc_feedforward.h Normal file
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@ -0,0 +1,45 @@
/****************************************************************************
* apps/include/industry/foc/fixed16/foc_feedforward.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __INDUSTRY_FOC_FIXED16_FOC_FEEDFORWARD_H
#define __INDUSTRY_FOC_FIXED16_FOC_FEEDFORWARD_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <dspb16.h>
/****************************************************************************
* Public Type Definition
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
int foc_feedforward_pmsm_b16(FAR struct motor_phy_params_b16_s *phy,
FAR dq_frame_b16_t *idq,
b16_t vel_now,
FAR dq_frame_b16_t *vdq_comp);
#endif /* __INDUSTRY_FOC_FIXED16_FOC_FEEDFORWARD_H */

45
include/industry/foc/float/foc_feedforward.h Normal file
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@ -0,0 +1,45 @@
/****************************************************************************
* apps/include/industry/foc/float/foc_feedforward.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __INDUSTRY_FOC_FLOAT_FOC_FEEDFORWARD_H
#define __INDUSTRY_FOC_FLOAT_FOC_FEEDFORWARD_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <dsp.h>
/****************************************************************************
* Public Type Definition
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
int foc_feedforward_pmsm_f32(FAR struct motor_phy_params_f32_s *phy,
FAR dq_frame_f32_t *idq,
float vel_now,
FAR dq_frame_f32_t *vdq_comp);
#endif /* __INDUSTRY_FOC_FLOAT_FOC_FEEDFORWARD_H */

16
industry/foc/CMakeLists.txt
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@ -23,7 +23,9 @@ if(CONFIG_INDUSTRY_FOC)
set(CSRCS foc_utils.c)
if(CONFIG_INDUSTRY_FOC_FLOAT)
list(APPEND CSRCS
list(
APPEND
CSRCS
float/foc_ramp.c
float/foc_handler.c
float/foc_angle.c
@ -85,10 +87,16 @@ if(CONFIG_INDUSTRY_FOC)
if(CONFIG_INDUSTRY_FOC_VELOCITY_OPLL)
list(APPEND CSRCS float/foc_vel_opll.c)
endif()
if(CONFIG_INDUSTRY_FOC_FEEDFORWARD)
list(APPEND CSRCS float/foc_feedforward.c)
endif()
endif()
if(CONFIG_INDUSTRY_FOC_FIXED16)
list(APPEND CSRCS
list(
APPEND
CSRCS
fixed16/foc_ramp.c
fixed16/foc_handler.c
fixed16/foc_angle.c
@ -150,6 +158,10 @@ if(CONFIG_INDUSTRY_FOC)
if(CONFIG_INDUSTRY_FOC_VELOCITY_OPLL)
list(APPEND CSRCS fixed16/foc_vel_opll.c)
endif()
if(CONFIG_INDUSTRY_FOC_FEEDFORWARD)
list(APPEND CSRCS fixed16/foc_feedforward.c)
endif()
endif()
target_sources(apps PRIVATE ${CSRCS})

6
industry/foc/Kconfig
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@ -116,6 +116,12 @@ config INDUSTRY_FOC_MODULATION_SVM3
---help---
Enable support for FOC 3-phase space vector modulation
config INDUSTRY_FOC_FEEDFORWARD
bool "FOC current controller feedforward compensation"
default n
---help---
Enable support for current controller feed forward compensation
config INDUSTRY_FOC_MODEL_PMSM
bool "FOC PMSM model support"
select INDUSTRY_FOC_HAVE_MODEL

6
industry/foc/Makefile
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@ -75,6 +75,9 @@ endif
ifeq ($(CONFIG_INDUSTRY_FOC_VELOCITY_OPLL),y)
CSRCS += float/foc_vel_opll.c
endif
ifeq ($(CONFIG_INDUSTRY_FOC_FEEDFORWARD),y)
CSRCS += float/foc_feedforward.c
endif
endif
@ -129,6 +132,9 @@ endif
ifeq ($(CONFIG_INDUSTRY_FOC_VELOCITY_OPLL),y)
CSRCS += fixed16/foc_vel_opll.c
endif
ifeq ($(CONFIG_INDUSTRY_FOC_FEEDFORWARD),y)
CSRCS += fixed16/foc_feedforward.c
endif
endif

68
industry/foc/fixed16/foc_feedforward.c Normal file
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@ -0,0 +1,68 @@
/****************************************************************************
* apps/industry/foc/fixed16/foc_feedforward.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include "industry/foc/fixed16/foc_feedforward.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_feedforward_pmsm_b16
*
* Description:
* Feed forward compensation for PMSM (fixed16)
*
* Input Parameter:
* phy - motor physical parameters
* idq - iqd frame
* vel_now - electrical velocity
* vdq_comp - compensation vdq frame
*
****************************************************************************/
int foc_feedforward_pmsm_b16(FAR struct motor_phy_params_b16_s *phy,
FAR dq_frame_b16_t *idq,
fixed16 vel_now,
FAR dq_frame_b16_t *vdq_comp)
{
DEBUGASSERT(phy);
DEBUGASSERT(idq);
DEBUGASSERT(vdq_comp);
/* NOTE: vdq_comp is substracted from vdq_ref in foc_current_control()
* so vq compensation must be negative here.
*/
vdq_comp->q = -b16mulb16(vel_now,
(phy->flux_link + b16mulb16(phy->ind,
idq->q)));
vdq_comp->d = b16mulb16(b16mulb16(vel_now, phy->ind), idq->q)U;
return OK;
}

66
industry/foc/float/foc_feedforward.c Normal file
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@ -0,0 +1,66 @@
/****************************************************************************
* apps/industry/foc/float/foc_feedforward.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include "industry/foc/float/foc_feedforward.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_feedforward_pmsm_f32
*
* Description:
* Feed forward compensation for PMSM (float32)
*
* Input Parameter:
* phy - motor physical parameters
* idq - iqd frame
* vel_now - electrical velocity
* vdq_comp - compensation vdq frame
*
****************************************************************************/
int foc_feedforward_pmsm_f32(FAR struct motor_phy_params_f32_s *phy,
FAR dq_frame_f32_t *idq,
float vel_now,
FAR dq_frame_f32_t *vdq_comp)
{
DEBUGASSERT(phy);
DEBUGASSERT(idq);
DEBUGASSERT(vdq_comp);
/* NOTE: vdq_comp is substracted from vdq_ref in foc_current_control()
* so vq compensation must be negative here.
*/
vdq_comp->q = -vel_now * (phy->flux_link + phy->ind * idq->q);
vdq_comp->d = vel_now * phy->ind * idq->q;
return OK;
}