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examples/foc: make the FOC current controller configurable

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For now only the FOC PI current controller is supported, but this can be easily extended to support other control methods
This commit is contained in:
raiden00pl 2022-02-16 14:03:16 +01:00 committed by Xiang Xiao
parent 5ef9d3630b
commit e6b6c14f53
8 changed files with 116 additions and 31 deletions
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14
examples/foc/Kconfig
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@ -43,6 +43,16 @@ config EXAMPLES_FOC_VERBOSE
default 1
range 0 2
choice
prompt "FOC current controller selection"
default EXAMPLES_FOC_CONTROL_PI
config EXAMPLES_FOC_CONTROL_PI
bool "FOC use PI current controller"
select INDUSTRY_FOC_CONTROL_PI
endchoice # FOC current controller
config EXAMPLES_FOC_PWM_FREQ
int "FOC PWM frequency"
default 10000
@ -315,6 +325,8 @@ config EXAMPLES_FOC_OPENLOOP_Q
default 200
depends on EXAMPLES_FOC_HAVE_OPENLOOP
if EXAMPLES_FOC_CONTROL_PI
config EXAMPLES_FOC_IDQ_KP
int "FOC PI controller Kp gain [x1000]"
default 0
@ -331,6 +343,8 @@ config EXAMPLES_FOC_IDQ_KI
The value of Kp and Ki depends on the controlled motor parameters.
For more instructions see README.md for this example.
endif #EXAMPLES_FOC_CONTROL_PI
config EXAMPLES_FOC_RAMP_THR
int "FOC velocity ramp threshold [x1000]"
default 0

6
examples/foc/foc_cfg.h
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@ -58,6 +58,12 @@
# endif
#endif
/* For now only the FOC PI current controller supported */
#ifndef CONFIG_EXAMPLES_FOC_CONTROL_PI
# error For now only the FOC PI current controller supported
#endif
/* Velocity ramp must be configured */
#if (CONFIG_EXAMPLES_FOC_RAMP_THR == 0)

25
examples/foc/foc_main.c
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@ -75,10 +75,13 @@ static void init_args(FAR struct args_s *args)
args->qparam =
(args->qparam == 0 ? CONFIG_EXAMPLES_FOC_OPENLOOP_Q : args->qparam);
#endif
args->pi_kp =
(args->pi_kp == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KP : args->pi_kp);
args->pi_ki =
(args->pi_ki == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KI : args->pi_ki);
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
args->foc_pi_kp =
(args->foc_pi_kp == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KP : args->foc_pi_kp);
args->foc_pi_ki =
(args->foc_pi_ki == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KI : args->foc_pi_ki);
#endif
/* Setpoint configuration */
@ -129,13 +132,15 @@ static int validate_args(FAR struct args_s *args)
{
int ret = -EINVAL;
/* FOC PI controller */
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Current PI controller */
if (args->pi_kp == 0 && args->pi_ki == 0)
if (args->foc_pi_kp == 0 && args->foc_pi_ki == 0)
{
PRINTF("ERROR: missing Kp/Ki configuration\n");
PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
goto errout;
}
#endif
/* FOC operation mode */
@ -366,8 +371,10 @@ int main(int argc, char *argv[])
#endif
foc[i].fmode = args.fmode;
foc[i].mmode = args.mmode;
foc[i].pi_kp = args.pi_kp;
foc[i].pi_ki = args.pi_ki;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
foc[i].foc_pi_kp = args.foc_pi_kp;
foc[i].foc_pi_ki = args.foc_pi_ki;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
foc[i].torqmax = args.torqmax;
#endif

39
examples/foc/foc_motor_b16.c
View File

@ -188,7 +188,9 @@ errout:
static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
{
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
FAR struct foc_control_ops_b16_s *foc_ctrl = NULL;
FAR struct foc_modulation_ops_b16_s *foc_mod = NULL;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
struct foc_initdata_b16_s ctrl_cfg;
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
@ -216,24 +218,45 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
}
#endif
/* Get FOC controller */
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
foc_ctrl = &g_foc_control_pi_b16;
#else
# error FOC controller not selected
#endif
/* Get FOC modulation */
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
foc_mod = &g_foc_mod_svm3_b16;
#else
# error FOC modulation not selected
#endif
/* Initialize FOC handler */
DEBUGASSERT(foc_ctrl != NULL);
DEBUGASSERT(foc_mod != NULL);
/* Initialize FOC handler */
ret = foc_handler_init_b16(&motor->handler,
&g_foc_control_pi_b16,
&g_foc_mod_svm3_b16);
foc_ctrl,
foc_mod);
if (ret < 0)
{
PRINTF("ERROR: foc_handler_init failed %d\n", ret);
goto errout;
}
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Get PI controller configuration */
ctrl_cfg.id_kp = ftob16(motor->envp->pi_kp / 1000.0f);
ctrl_cfg.id_ki = ftob16(motor->envp->pi_ki / 1000.0f);
ctrl_cfg.iq_kp = ftob16(motor->envp->pi_kp / 1000.0f);
ctrl_cfg.iq_ki = ftob16(motor->envp->pi_ki / 1000.0f);
ctrl_cfg.id_kp = ftob16(motor->envp->foc_pi_kp / 1000.0f);
ctrl_cfg.id_ki = ftob16(motor->envp->foc_pi_ki / 1000.0f);
ctrl_cfg.iq_kp = ftob16(motor->envp->foc_pi_kp / 1000.0f);
ctrl_cfg.iq_ki = ftob16(motor->envp->foc_pi_ki / 1000.0f);
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3

37
examples/foc/foc_motor_f32.c
View File

@ -188,7 +188,9 @@ errout:
static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
{
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
FAR struct foc_control_ops_f32_s *foc_ctrl = NULL;
FAR struct foc_modulation_ops_f32_s *foc_mod = NULL;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
struct foc_initdata_f32_s ctrl_cfg;
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
@ -216,24 +218,43 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
}
#endif
/* Get FOC controller */
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
foc_ctrl = &g_foc_control_pi_f32;
#else
# error FOC controller not selected
#endif
/* Get FOC modulation */
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
foc_mod = &g_foc_mod_svm3_f32;
#else
# error FOC modulation not selected
#endif
/* Initialize FOC handler */
DEBUGASSERT(foc_ctrl != NULL);
DEBUGASSERT(foc_mod != NULL);
ret = foc_handler_init_f32(&motor->handler,
&g_foc_control_pi_f32,
&g_foc_mod_svm3_f32);
foc_ctrl,
foc_mod);
if (ret < 0)
{
PRINTF("ERROR: foc_handler_init failed %d\n", ret);
goto errout;
}
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Get PI controller configuration */
ctrl_cfg.id_kp = (motor->envp->pi_kp / 1000.0f);
ctrl_cfg.id_ki = (motor->envp->pi_ki / 1000.0f);
ctrl_cfg.iq_kp = (motor->envp->pi_kp / 1000.0f);
ctrl_cfg.iq_ki = (motor->envp->pi_ki / 1000.0f);
ctrl_cfg.id_kp = (motor->envp->foc_pi_kp / 1000.0f);
ctrl_cfg.id_ki = (motor->envp->foc_pi_ki / 1000.0f);
ctrl_cfg.iq_kp = (motor->envp->foc_pi_kp / 1000.0f);
ctrl_cfg.iq_ki = (motor->envp->foc_pi_ki / 1000.0f);
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3

10
examples/foc/foc_parseargs.c
View File

@ -62,8 +62,10 @@ static struct option g_long_options[] =
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
{ "oqset", required_argument, 0, 'o' },
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
{ "fkp", required_argument, 0, OPT_FKP },
{ "fki", required_argument, 0, OPT_FKI },
#endif
{ 0, 0, 0, 0 }
};
@ -106,8 +108,10 @@ static void foc_help(void)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
PRINTF(" [--fki] PI Kp coefficient [x1000]\n");
PRINTF(" [--fkp] PI Ki coefficient [x1000]\n");
#endif
}
/****************************************************************************
@ -135,17 +139,19 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
switch (c)
{
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
case OPT_FKP:
{
args->pi_kp = atoi(optarg);
args->foc_pi_kp = atoi(optarg);
break;
}
case OPT_FKI:
{
args->pi_ki = atoi(optarg);
args->foc_pi_ki = atoi(optarg);
break;
}
#endif
case 't':
{

8
examples/foc/foc_parseargs.h
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@ -47,8 +47,12 @@ struct args_s
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
int qparam; /* Open-loop Q setting (x1000) */
#endif
uint32_t pi_kp; /* PI Kp (x1000) */
uint32_t pi_ki; /* PI Ki (x1000) */
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
#endif
int state; /* Example state (FREE, CW, CCW, STOP) */
int8_t en; /* Enabled instances (bit-encoded) */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ

8
examples/foc/foc_thr.h
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@ -102,8 +102,12 @@ struct foc_ctrl_env_s
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
int qparam; /* Open-loop Q setting (x1000) */
#endif
uint32_t pi_kp; /* FOC PI Kp (x1000) */
uint32_t pi_ki; /* FOC PI Ki (x1000) */
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
uint32_t torqmax; /* Torque max (x1000) */
#endif