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improve flux linkage identification method

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improve flux linkage identification method
This commit is contained in:
zouboan 2022-08-20 16:07:00 +08:00 committed by Xiang Xiao
parent 511d9d59de
commit bd82e8d39f
2 changed files with 30 additions and 8 deletions
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10
include/industry/foc/float/foc_ident.h
View File

@ -48,6 +48,10 @@ struct foc_routine_ident_cb_f32_s
FAR void *priv_speed; FAR void *priv_speed;
/* Private data for kpki callbacks */
FAR void *priv_kpki;
/* Openloop angle zero callback */ /* Openloop angle zero callback */
CODE int (*zero)(FAR void *priv); CODE int (*zero)(FAR void *priv);
@ -59,6 +63,10 @@ struct foc_routine_ident_cb_f32_s
/* Identification openloop speed callback */ /* Identification openloop speed callback */
CODE float (*speed)(FAR void *priv, float des, float now); CODE float (*speed)(FAR void *priv, float des, float now);
/* Identification calculate kp and ki callback */
CODE int (*kpki)(FAR void *priv, float res, float ind, float per);
}; };
#endif #endif
@ -70,7 +78,7 @@ struct foc_routine_ident_cfg_f32_s
struct foc_routine_ident_cb_f32_s cb; /* Identification routine callbacks */ struct foc_routine_ident_cb_f32_s cb; /* Identification routine callbacks */
float flux_vel; /* Flux linkage measurement velocity */ float flux_vel; /* Flux linkage measurement velocity */
float flux_volt; /* Flux linkage measurement voltage */ float flux_curr; /* Flux linkage measurement current */
int flux_steps; /* Flux linkage measurement steps */ int flux_steps; /* Flux linkage measurement steps */
#endif #endif
float per; /* Routine period in sec */ float per; /* Routine period in sec */

28
industry/foc/float/foc_ident.c
View File

@ -407,13 +407,13 @@ int foc_ident_fluxlink_run_f32(FAR struct foc_ident_f32_s *ident,
ident->cfg.flux_vel, ident->vel); ident->cfg.flux_vel, ident->vel);
} }
/* Force q axis voltage = ident->cfg.flux_volt */ /* Force q axis current = ident->cfg.flux_curr */
out->dq_ref.q = ident->cfg.flux_volt; out->dq_ref.q = ident->cfg.flux_curr;
out->dq_ref.d = 0.0f; out->dq_ref.d = 0.0f;
out->vdq_comp.q = 0.0f; out->vdq_comp.q = 0.0f;
out->vdq_comp.d = 0.0f; out->vdq_comp.d = 0.0f;
out->foc_mode = FOC_HANDLER_MODE_VOLTAGE; out->foc_mode = FOC_HANDLER_MODE_CURRENT;
/* Increase counter */ /* Increase counter */
@ -437,7 +437,7 @@ int foc_ident_fluxlink_run_f32(FAR struct foc_ident_f32_s *ident,
/* Get flux linkage */ /* Get flux linkage */
ident->final.flux = (volt_avg - ident->final.res * curr_avg) / ident->final.flux = (volt_avg - ident->final.res * curr_avg) /
ident->vel; ident->vel - ident->final.ind * curr_avg;
/* Force IDLE state */ /* Force IDLE state */
@ -578,7 +578,7 @@ int foc_routine_ident_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg)
if (i->cfg.res_current <= 0.0f || i->cfg.ind_volt <= 0.0f if (i->cfg.res_current <= 0.0f || i->cfg.ind_volt <= 0.0f
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX #ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
|| i->cfg.flux_volt <= 0.0f || i->cfg.flux_curr <= 0.0f
#endif #endif
) )
{ {
@ -628,6 +628,9 @@ int foc_routine_ident_run_f32(FAR foc_routine_f32_t *r,
DEBUGASSERT(r->data); DEBUGASSERT(r->data);
i = r->data; i = r->data;
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
DEBUGASSERT(i->cfg.cb.kpki != NULL);
#endif
/* Force IDLE state at default */ /* Force IDLE state at default */
@ -650,12 +653,23 @@ int foc_routine_ident_run_f32(FAR foc_routine_f32_t *r,
break; break;
} }
case FOC_IDENT_RUN_IDLE1:
case FOC_IDENT_RUN_IDLE2:
case FOC_IDENT_RUN_IDLE3: case FOC_IDENT_RUN_IDLE3:
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX #ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
if (i->cntr == 0)
{
ret = i->cfg.cb.kpki(i->cfg.cb.priv_kpki, i->final.res,
i->final.ind, i->cfg.per);
if (ret < 0)
{
FOCLIBERR("ERROR: ident kpki callback failed %d!\n", ret);
goto errout;
}
}
case FOC_IDENT_RUN_IDLE4: case FOC_IDENT_RUN_IDLE4:
#endif #endif
case FOC_IDENT_RUN_IDLE1:
case FOC_IDENT_RUN_IDLE2:
{ {
/* De-energetize motor */ /* De-energetize motor */