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examples/foc: initialize motor phy

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This commit is contained in:
raiden00pl 2022-11-04 19:08:27 +01:00 committed by Xiang Xiao
parent 9ee4daea43
commit 9bcca69967
5 changed files with 48 additions and 16 deletions
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35
examples/foc/Kconfig
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@ -98,6 +98,37 @@ config EXAMPLES_FOC_SENSORED
endchoice # endchoice #
menu "Motor phy"
config EXAMPLES_FOC_MOTOR_POLES
int "FOC example motor poles pairs"
default 0
config EXAMPLES_FOC_MOTOR_RES
int "FOC example motor phase resistance (x1000000)"
default 0
---help---
The unit is micro-ohm (1/1000000 ohm).
config EXAMPLES_FOC_MOTOR_IND
int "FOC example motor phase inductance (x1000000)"
default 0
---help---
The unit is micro micro-henry (1/1000000 henry).
config EXAMPLES_FOC_MOTOR_FLUXLINK
int "FOC example motor flux linkage (x1000000)"
default 0
---help---
The unit is micro-Vs (1/1000000 Vs).
Flux linkage can be obtained from the formula:
lambda_pm = (1 / sqrt(3)) * (60 / 2*PI) * (Ke / P) [Vs]
where:
Ke - motor voltage constant Ke [V/rpm]
P - motor pole pairs
endmenu # Motor phy
if EXAMPLES_FOC_SENSORED if EXAMPLES_FOC_SENSORED
choice choice
@ -115,10 +146,6 @@ endchoice # FOC sensored sensor selection
if EXAMPLES_FOC_HAVE_QENCO if EXAMPLES_FOC_HAVE_QENCO
config EXAMPLES_FOC_MOTOR_POLES
int "FOC example motor poles pairs"
default 0
config EXAMPLES_FOC_QENCO_POSMAX config EXAMPLES_FOC_QENCO_POSMAX
int "FOC example qencoder maximum position" int "FOC example qencoder maximum position"
default 0 default 0

13
examples/foc/foc_motor_b16.c
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@ -364,11 +364,13 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
foc_handler_cfg_b16(&motor->handler, &ctrl_cfg, &mod_cfg); foc_handler_cfg_b16(&motor->handler, &ctrl_cfg, &mod_cfg);
#ifdef CONFIG_EXAMPLES_FOC_MOTOR_POLES /* Configure motor phy */
/* Configure motor poles */
motor->poles = CONFIG_EXAMPLES_FOC_MOTOR_POLES; motor_phy_params_init_b16(&motor->phy,
#endif CONFIG_EXAMPLES_FOC_MOTOR_POLES,
ftob16(CONFIG_EXAMPLES_FOC_MOTOR_RES / 1000000.0f),
ftob16(CONFIG_EXAMPLES_FOC_MOTOR_IND / 1000000.0f),
ftob16(CONFIG_EXAMPLES_FOC_MOTOR_FLUXLINK / 1000000.0f));
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Initialize PMSM model */ /* Initialize PMSM model */
@ -1200,7 +1202,8 @@ int foc_motor_get(FAR struct foc_motor_b16_s *motor)
/* Convert mechanical angle to electrical angle */ /* Convert mechanical angle to electrical angle */
motor->angle_el = (b16muli(motor->angle_m, motor->angle_el = (b16muli(motor->angle_m,
motor->poles) % MOTOR_ANGLE_E_MAX_B16); motor->phy.poles) %
MOTOR_ANGLE_E_MAX_B16);
} }
else else

2
examples/foc/foc_motor_b16.h
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@ -133,7 +133,7 @@ struct foc_motor_b16_s
struct foc_model_b16_s model; /* Model handler */ struct foc_model_b16_s model; /* Model handler */
struct foc_model_state_b16_s model_state; /* PMSM model state */ struct foc_model_state_b16_s model_state; /* PMSM model state */
#endif #endif
uint8_t poles; /* Motor poles */ struct motor_phy_params_b16_s phy; /* Motor phy */
/* Motor velocity and angle handlers **************************************/ /* Motor velocity and angle handlers **************************************/

12
examples/foc/foc_motor_f32.c
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@ -362,11 +362,13 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
foc_handler_cfg_f32(&motor->handler, &ctrl_cfg, &mod_cfg); foc_handler_cfg_f32(&motor->handler, &ctrl_cfg, &mod_cfg);
#ifdef CONFIG_EXAMPLES_FOC_MOTOR_POLES /* Configure motor phy */
/* Configure motor poles */
motor->poles = CONFIG_EXAMPLES_FOC_MOTOR_POLES; motor_phy_params_init(&motor->phy,
#endif CONFIG_EXAMPLES_FOC_MOTOR_POLES,
CONFIG_EXAMPLES_FOC_MOTOR_RES / 1000000.0f,
CONFIG_EXAMPLES_FOC_MOTOR_IND / 1000000.0f,
CONFIG_EXAMPLES_FOC_MOTOR_FLUXLINK / 1000000.0f);
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Initialize PMSM model */ /* Initialize PMSM model */
@ -1185,7 +1187,7 @@ int foc_motor_get(FAR struct foc_motor_f32_s *motor)
/* Convert mechanical angle to electrical angle */ /* Convert mechanical angle to electrical angle */
motor->angle_el = fmodf(motor->angle_m * motor->poles, motor->angle_el = fmodf(motor->angle_m * motor->phy.poles,
MOTOR_ANGLE_E_MAX); MOTOR_ANGLE_E_MAX);
} }

2
examples/foc/foc_motor_f32.h
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@ -133,7 +133,7 @@ struct foc_motor_f32_s
struct foc_model_f32_s model; /* Model handler */ struct foc_model_f32_s model; /* Model handler */
struct foc_model_state_f32_s model_state; /* PMSM model state */ struct foc_model_state_f32_s model_state; /* PMSM model state */
#endif #endif
uint8_t poles; /* Motor poles */ struct motor_phy_params_f32_s phy; /* Motor phy */
/* Motor velocity and angle handlers **************************************/ /* Motor velocity and angle handlers **************************************/