sergiotarxz/nuttx-apps
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

industry/foc/foc_ident: make the Ki resistance measurement parameter configurable

Browse Source 
The hardcoded parameter may not be suitable for various types of motors
This commit is contained in:
raiden00pl 2022-08-18 11:38:32 +02:00 committed by Xiang Xiao
parent 5862b9d15c
commit 8d61a10a74
8 changed files with 28 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
examples/foc/Kconfig
View File

@ -386,6 +386,10 @@ config EXAMPLES_FOC_IDENT_RES_CURRENT
int "FOC motor ident resistance current (x1000)"
default 0
config EXAMPLES_FOC_IDENT_RES_KI
int "FOC motor ident resistance Ki (x1000)"
default 50
config EXAMPLES_FOC_IDENT_IND_VOLTAGE
int "FOC motor ident inductance voltage (x1000)"
default 0

3
examples/foc/foc_cfg.h
View File

@ -88,6 +88,9 @@
# if (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT == 0)
# error
# endif
# if (CONFIG_EXAMPLES_FOC_IDENT_RES_KI == 0)
# error
# endif
# if (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE == 0)
# error
# endif

2
examples/foc/foc_motor_b16.c
View File

@ -989,6 +989,8 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
ident_cfg.per = motor->per;
ident_cfg.res_current = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT /
1000.0f);
ident_cfg.res_ki = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_KI /
1000.0f);
ident_cfg.ind_volt = ftob16(CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE /
1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *

1
examples/foc/foc_motor_f32.c
View File

@ -972,6 +972,7 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
ident_cfg.per = motor->per;
ident_cfg.res_current = (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT / 1000.0f);
ident_cfg.res_ki = (CONFIG_EXAMPLES_FOC_IDENT_RES_KI / 1000.0f);
ident_cfg.ind_volt = (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE / 1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);

1
include/industry/foc/fixed16/foc_ident.h
View File

@ -41,6 +41,7 @@ struct foc_routine_ident_cfg_b16_s
{
b16_t per; /* Routine period in sec */
b16_t res_current; /* Resistance measurement current */
b16_t res_ki; /* Resistance measurement Ki */
b16_t ind_volt; /* Inductance measurement current */
int res_steps; /* Resistance measurement steps */
int ind_steps; /* Inductance measurement steps */

1
include/industry/foc/float/foc_ident.h
View File

@ -83,6 +83,7 @@ struct foc_routine_ident_cfg_f32_s
#endif
float per; /* Routine period in sec */
float res_current; /* Resistance measurement current */
float res_ki; /* Resistance measurement Ki */
float ind_volt; /* Inductance measurement voltage */
int res_steps; /* Resistance measurement steps */
int ind_steps; /* Inductance measurement steps */

10
industry/foc/fixed16/foc_ident.c
View File

@ -39,7 +39,6 @@
****************************************************************************/
#define IDENT_PI_KP (ftob16(0.0f))
#define IDENT_PI_KI (ftob16(0.05f))
/****************************************************************************
* Private Data Types
@ -169,7 +168,8 @@ int foc_ident_res_run_b16(FAR struct foc_ident_b16_s *ident,
if (ident->cntr == 0)
{
pi_controller_init_b16(&ident->pi, IDENT_PI_KP, IDENT_PI_KI);
DEBUGASSERT(ident->cfg.res_ki > 0);
pi_controller_init_b16(&ident->pi, IDENT_PI_KP, ident->cfg.res_ki);
}
/* PI saturation */
@ -427,6 +427,12 @@ int foc_routine_ident_cfg_b16(FAR foc_routine_b16_t *r, FAR void *cfg)
goto errout;
}
if (i->cfg.res_ki <= 0)
{
ret = -EINVAL;
goto errout;
}
if (i->cfg.res_current <= 0 || i->cfg.ind_volt <= 0)
{
ret = -EINVAL;

10
industry/foc/float/foc_ident.c
View File

@ -39,7 +39,6 @@
****************************************************************************/
#define IDENT_PI_KP (0.0f)
#define IDENT_PI_KI (0.05f)
/****************************************************************************
* Private Data Types
@ -194,7 +193,8 @@ int foc_ident_res_run_f32(FAR struct foc_ident_f32_s *ident,
if (ident->cntr == 0)
{
pi_controller_init(&ident->pi, IDENT_PI_KP, IDENT_PI_KI);
DEBUGASSERT(ident->cfg.res_ki > 0.0f);
pi_controller_init(&ident->pi, IDENT_PI_KP, ident->cfg.res_ki);
}
/* PI saturation */
@ -576,6 +576,12 @@ int foc_routine_ident_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg)
goto errout;
}
if (i->cfg.res_ki <= 0.0f)
{
ret = -EINVAL;
goto errout;
}
if (i->cfg.res_current <= 0.0f || i->cfg.ind_volt <= 0.0f
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
|| i->cfg.flux_curr <= 0.0f