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examples/foc: add option to disable open-loop operations

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Initial step towards sensored control
This commit is contained in:
raiden00pl 2021-10-30 14:27:32 +02:00 committed by Xiang Xiao
parent cc4d817df4
commit 9c8e3cc46a
8 changed files with 59 additions and 26 deletions
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19
examples/foc/Kconfig
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@ -75,6 +75,24 @@ config EXAMPLES_FOC_STATE_USE_MODEL_PMSM
---help--- ---help---
Use PMSM model instead of real hardware Use PMSM model instead of real hardware
choice
prompt "FOC sensored or sensorless configuration"
default EXAMPLES_FOC_SENSORLESS
config EXAMPLES_FOC_SENSORLESS
bool "FOC example sensorless configuration"
config EXAMPLES_FOC_SENSORED
bool "FOC example sensored configuration"
endchoice #
config EXAMPLES_FOC_HAVE_OPENLOOP
bool "FOC example have open-loop controller"
select INDUSTRY_FOC_ANGLE_OPENLOOP
default y if EXAMPLES_FOC_SENSORLESS
default n
menu "FOC user input" menu "FOC user input"
config EXAMPLES_FOC_HAVE_ADC config EXAMPLES_FOC_HAVE_ADC
@ -201,6 +219,7 @@ config EXAMPLES_FOC_OPMODE
config EXAMPLES_FOC_OPENLOOP_Q config EXAMPLES_FOC_OPENLOOP_Q
int "FOC open-loop Vq/Iq setting [x1000]" int "FOC open-loop Vq/Iq setting [x1000]"
default 200 default 200
depends on EXAMPLES_FOC_HAVE_OPENLOOP
config EXAMPLES_FOC_IDQ_KP config EXAMPLES_FOC_IDQ_KP
int "FOC PI controller Kp gain [x1000]" int "FOC PI controller Kp gain [x1000]"

14
examples/foc/foc_cfg.h
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@ -31,6 +31,20 @@
* Pre-processor Definitions * Pre-processor Definitions
****************************************************************************/ ****************************************************************************/
/* For now only open-loop supported */
#ifndef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
# error For now only open-loop supported
#endif
/* Open-loop configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
# ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
# error
# endif
#endif
/* Velocity ramp must be configured */ /* Velocity ramp must be configured */
#if (CONFIG_EXAMPLES_FOC_RAMP_THR == 0) #if (CONFIG_EXAMPLES_FOC_RAMP_THR == 0)

20
examples/foc/foc_fixed16_thr.c
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@ -55,10 +55,6 @@
# error # error
#endif #endif
#ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
# error For now only open-loop supported
#endif
/**************************************************************************** /****************************************************************************
* Private Type Definition * Private Type Definition
****************************************************************************/ ****************************************************************************/
@ -69,13 +65,14 @@ struct foc_motor_b16_s
{ {
FAR struct foc_ctrl_env_s *envp; /* Thread env */ FAR struct foc_ctrl_env_s *envp; /* Thread env */
bool fault; /* Fault flag */ bool fault; /* Fault flag */
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
bool openloop_now; /* Open-loop now */ bool openloop_now; /* Open-loop now */
b16_t angle_ol; /* Phase angle open-loop */
foc_angle_b16_t openloop; /* Open-loop angle handler */
#endif #endif
int foc_mode; /* FOC mode */ int foc_mode; /* FOC mode */
b16_t vbus; /* Power bus voltage */ b16_t vbus; /* Power bus voltage */
b16_t angle_now; /* Phase angle now */ b16_t angle_now; /* Phase angle now */
b16_t angle_ol; /* Phase angle open-loop */
b16_t vel_set; /* Velocity setting now */ b16_t vel_set; /* Velocity setting now */
b16_t vel_now; /* Velocity now */ b16_t vel_now; /* Velocity now */
b16_t vel_des; /* Velocity destination */ b16_t vel_des; /* Velocity destination */
@ -91,9 +88,6 @@ struct foc_motor_b16_s
struct foc_state_s dev_state; /* FOC dev state */ struct foc_state_s dev_state; /* FOC dev state */
struct foc_params_s dev_params; /* FOC dev params */ struct foc_params_s dev_params; /* FOC dev params */
struct foc_ramp_b16_s ramp; /* Velocity ramp data */ struct foc_ramp_b16_s ramp; /* Velocity ramp data */
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
foc_angle_b16_t openloop; /* Open-loop angle handler */
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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 */
@ -111,7 +105,7 @@ struct foc_motor_b16_s
static int foc_motor_init(FAR struct foc_motor_b16_s *motor, static int foc_motor_init(FAR struct foc_motor_b16_s *motor,
FAR struct foc_ctrl_env_s *envp) FAR struct foc_ctrl_env_s *envp)
{ {
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
struct foc_openloop_cfg_b16_s ol_cfg; struct foc_openloop_cfg_b16_s ol_cfg;
#endif #endif
int ret = OK; int ret = OK;
@ -141,7 +135,7 @@ static int foc_motor_init(FAR struct foc_motor_b16_s *motor,
motor->per = b16divi(b16ONE, CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ); motor->per = b16divi(b16ONE, CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ftob16((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f); motor->iphase_adc = ftob16((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Initialize open-loop angle handler */ /* Initialize open-loop angle handler */
foc_angle_init_b16(&motor->openloop, foc_angle_init_b16(&motor->openloop,
@ -173,7 +167,7 @@ static int foc_mode_init(FAR struct foc_motor_b16_s *motor)
break; break;
} }
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case FOC_OPMODE_OL_V_VEL: case FOC_OPMODE_OL_V_VEL:
{ {
motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE; motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE;
@ -552,7 +546,7 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
ain.angle = motor->angle_now; ain.angle = motor->angle_now;
ain.dir = motor->dir; ain.dir = motor->dir;
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc_angle_run_b16(&motor->openloop, &ain, &aout); foc_angle_run_b16(&motor->openloop, &ain, &aout);
/* Store open-loop angle */ /* Store open-loop angle */

20
examples/foc/foc_float_thr.c
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@ -55,10 +55,6 @@
# error # error
#endif #endif
#ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
# error For now only open-loop supported
#endif
/**************************************************************************** /****************************************************************************
* Private Type Definition * Private Type Definition
****************************************************************************/ ****************************************************************************/
@ -69,13 +65,14 @@ struct foc_motor_f32_s
{ {
FAR struct foc_ctrl_env_s *envp; /* Thread env */ FAR struct foc_ctrl_env_s *envp; /* Thread env */
bool fault; /* Fault flag */ bool fault; /* Fault flag */
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
bool openloop_now; /* Open-loop now */ bool openloop_now; /* Open-loop now */
float angle_ol; /* Phase angle open-loop */
foc_angle_f32_t openloop; /* Open-loop angle handler */
#endif #endif
int foc_mode; /* FOC mode */ int foc_mode; /* FOC mode */
float vbus; /* Power bus voltage */ float vbus; /* Power bus voltage */
float angle_now; /* Phase angle now */ float angle_now; /* Phase angle now */
float angle_ol; /* Phase angle open-loop */
float vel_set; /* Velocity setting now */ float vel_set; /* Velocity setting now */
float vel_now; /* Velocity now */ float vel_now; /* Velocity now */
float vel_des; /* Velocity destination */ float vel_des; /* Velocity destination */
@ -91,9 +88,6 @@ struct foc_motor_f32_s
struct foc_state_s dev_state; /* FOC dev state */ struct foc_state_s dev_state; /* FOC dev state */
struct foc_params_s dev_params; /* FOC dev params */ struct foc_params_s dev_params; /* FOC dev params */
struct foc_ramp_f32_s ramp; /* Velocity ramp data */ struct foc_ramp_f32_s ramp; /* Velocity ramp data */
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
foc_angle_f32_t openloop; /* Open-loop angle handler */
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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 */
@ -111,7 +105,7 @@ struct foc_motor_f32_s
static int foc_motor_init(FAR struct foc_motor_f32_s *motor, static int foc_motor_init(FAR struct foc_motor_f32_s *motor,
FAR struct foc_ctrl_env_s *envp) FAR struct foc_ctrl_env_s *envp)
{ {
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
struct foc_openloop_cfg_f32_s ol_cfg; struct foc_openloop_cfg_f32_s ol_cfg;
#endif #endif
int ret = OK; int ret = OK;
@ -141,7 +135,7 @@ static int foc_motor_init(FAR struct foc_motor_f32_s *motor,
motor->per = (float)(1.0f / CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ); motor->per = (float)(1.0f / CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f); motor->iphase_adc = ((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Initialize open-loop angle handler */ /* Initialize open-loop angle handler */
foc_angle_init_f32(&motor->openloop, foc_angle_init_f32(&motor->openloop,
@ -173,7 +167,7 @@ static int foc_mode_init(FAR struct foc_motor_f32_s *motor)
break; break;
} }
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case FOC_OPMODE_OL_V_VEL: case FOC_OPMODE_OL_V_VEL:
{ {
motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE; motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE;
@ -551,7 +545,7 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
ain.angle = motor->angle_now; ain.angle = motor->angle_now;
ain.dir = motor->dir; ain.dir = motor->dir;
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc_angle_run_f32(&motor->openloop, &ain, &aout); foc_angle_run_f32(&motor->openloop, &ain, &aout);
/* Store open-loop angle */ /* Store open-loop angle */

4
examples/foc/foc_main.c
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@ -131,8 +131,10 @@ static void init_args(FAR struct args_s *args)
(args->time == 0 ? CONFIG_EXAMPLES_FOC_TIME_DEFAULT : args->time); (args->time == 0 ? CONFIG_EXAMPLES_FOC_TIME_DEFAULT : args->time);
args->mode = args->mode =
(args->mode == 0 ? CONFIG_EXAMPLES_FOC_OPMODE : args->mode); (args->mode == 0 ? CONFIG_EXAMPLES_FOC_OPMODE : args->mode);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
args->qparam = args->qparam =
(args->qparam == 0 ? CONFIG_EXAMPLES_FOC_OPENLOOP_Q : args->qparam); (args->qparam == 0 ? CONFIG_EXAMPLES_FOC_OPENLOOP_Q : args->qparam);
#endif
args->pi_kp = args->pi_kp =
(args->pi_kp == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KP : args->pi_kp); (args->pi_kp == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KP : args->pi_kp);
args->pi_ki = args->pi_ki =
@ -606,7 +608,9 @@ int main(int argc, char *argv[])
{ {
/* Get configuration */ /* Get configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc[i].qparam = args.qparam; foc[i].qparam = args.qparam;
#endif
foc[i].mode = args.mode; foc[i].mode = args.mode;
foc[i].pi_kp = args.pi_kp; foc[i].pi_kp = args.pi_kp;
foc[i].pi_ki = args.pi_ki; foc[i].pi_ki = args.pi_ki;

4
examples/foc/foc_parseargs.c
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@ -80,7 +80,9 @@ static void foc_help(void)
PRINTF(" 3 - motor CW\n"); PRINTF(" 3 - motor CW\n");
PRINTF(" 4 - motor CCW\n"); PRINTF(" 4 - motor CCW\n");
PRINTF(" [-j] enable specific instnaces\n"); PRINTF(" [-j] enable specific instnaces\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n"); PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
#endif
PRINTF(" [--fki] PI Kp coefficient [x1000]\n"); PRINTF(" [--fki] PI Kp coefficient [x1000]\n");
PRINTF(" [--fkp] PI Ki coefficient [x1000]\n"); PRINTF(" [--fkp] PI Ki coefficient [x1000]\n");
} }
@ -158,11 +160,13 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
break; break;
} }
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case 'o': case 'o':
{ {
args->qparam = atoi(optarg); args->qparam = atoi(optarg);
break; break;
} }
#endif
case '?': case '?':
default: default:

2
examples/foc/foc_parseargs.h
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@ -43,7 +43,9 @@ struct args_s
{ {
int time; /* Run time limit in sec, -1 if forever */ int time; /* Run time limit in sec, -1 if forever */
int mode; /* Operation mode */ int mode; /* Operation mode */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
int qparam; /* Open-loop Q setting (x1000) */ int qparam; /* Open-loop Q setting (x1000) */
#endif
uint32_t pi_kp; /* PI Kp (x1000) */ uint32_t pi_kp; /* PI Kp (x1000) */
uint32_t pi_ki; /* PI Ki (x1000) */ uint32_t pi_ki; /* PI Ki (x1000) */
uint32_t velmax; /* Velocity max (x1000) */ uint32_t velmax; /* Velocity max (x1000) */

2
examples/foc/foc_thr.h
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@ -75,7 +75,9 @@ struct foc_ctrl_env_s
int id; /* FOC device id */ int id; /* FOC device id */
int inst; /* Type specific instance counter */ int inst; /* Type specific instance counter */
int type; /* Controller type */ int type; /* Controller type */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
int qparam; /* Open-loop Q setting (x1000) */ int qparam; /* Open-loop Q setting (x1000) */
#endif
int mode; /* Operation mode */ int mode; /* Operation mode */
uint32_t pi_kp; /* FOC PI Kp (x1000) */ uint32_t pi_kp; /* FOC PI Kp (x1000) */
uint32_t pi_ki; /* FOC PI Ki (x1000) */ uint32_t pi_ki; /* FOC PI Ki (x1000) */