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examples/foc: fix active brake for sensored mode

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This commit is contained in:
raiden00pl 2023-11-08 15:06:17 +01:00 committed by Petro Karashchenko
parent cb36d9c8b2
commit c5314b54a4
2 changed files with 42 additions and 8 deletions
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25
examples/foc/foc_motor_b16.c
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@ -624,7 +624,7 @@ static int foc_motor_state(FAR struct foc_motor_b16_s *motor, int state)
DEBUGASSERT(motor);
/* Update motor state */
/* Update motor state - this function is called every controller cycle */
switch (state)
{
@ -642,6 +642,9 @@ static int foc_motor_state(FAR struct foc_motor_b16_s *motor, int state)
case FOC_EXAMPLE_STATE_STOP:
{
#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
/* For sensorless we can just set Q reference to lock the motor */
motor->dir = DIR_NONE_B16;
/* DQ vector not zero - active brake */
@ -649,6 +652,15 @@ static int foc_motor_state(FAR struct foc_motor_b16_s *motor, int state)
motor->dq_ref.q = ftob16(CONFIG_EXAMPLES_FOC_STOP_CURRENT /
1000.0f);
motor->dq_ref.d = 0;
#else
/* For sensored mode we set requested velocity to 0 */
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
motor->vel.des = 0;
# else
# error STOP state for sensored mode requires velocity support
# endif
#endif
break;
}
@ -899,10 +911,15 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
q_ref = motor->dq_ref.q;
d_ref = motor->dq_ref.d;
/* Ignore controller if motor is free or stopped */
/* Ignore controller if motor is free (sensorless and sensored mode)
* or stopped (only sensorless mode)
*/
if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE ||
motor->mq.app_state == FOC_EXAMPLE_STATE_STOP)
if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE
#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
|| motor->mq.app_state == FOC_EXAMPLE_STATE_STOP
#endif
)
{
goto no_controller;
}

25
examples/foc/foc_motor_f32.c
View File

@ -602,7 +602,7 @@ static int foc_motor_state(FAR struct foc_motor_f32_s *motor, int state)
DEBUGASSERT(motor);
/* Update motor state */
/* Update motor state - this function is called every controller cycle */
switch (state)
{
@ -620,12 +620,24 @@ static int foc_motor_state(FAR struct foc_motor_f32_s *motor, int state)
case FOC_EXAMPLE_STATE_STOP:
{
#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
/* For sensorless we can just set Q reference to lock the motor */
motor->dir = DIR_NONE;
/* DQ vector not zero - active brake */
motor->dq_ref.q = CONFIG_EXAMPLES_FOC_STOP_CURRENT / 1000.0f;
motor->dq_ref.d = 0.0f;
#else
/* For sensored mode we set requested velocity to 0 */
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
motor->vel.des = 0.0f;
# else
# error STOP state for sensored mode requires velocity support
# endif
#endif
break;
}
@ -882,10 +894,15 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
q_ref = motor->dq_ref.q;
d_ref = motor->dq_ref.d;
/* Ignore controller if motor is free or stopped */
/* Ignore controller if motor is free (sensorless and sensored mode)
* or stopped (only sensorless mode)
*/
if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE ||
motor->mq.app_state == FOC_EXAMPLE_STATE_STOP)
if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE
#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
|| motor->mq.app_state == FOC_EXAMPLE_STATE_STOP
#endif
)
{
goto no_controller;
}