318 lines
8.7 KiB
C
318 lines
8.7 KiB
C
/****************************************************************************
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* apps/industry/foc/float/foc_ang_onfo.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <assert.h>
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#include <errno.h>
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#include <stdlib.h>
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#include "industry/foc/foc_log.h"
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#include "industry/foc/float/foc_angle.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define SIGN(x) ((x > 0.0f) ? 1.0f : -1.0f)
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#define LINEAR_MAP(x, in_min, in_max, out_min, out_max) \
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((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)
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/****************************************************************************
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* Private Data Types
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****************************************************************************/
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/* sensorless observer data */
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struct foc_ang_onfo_f32_s
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{
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struct foc_angle_onfo_cfg_f32_s cfg;
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struct motor_aobserver_nfo_f32_s data;
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struct motor_aobserver_f32_s o;
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float sensor_dir;
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int foc_angle_onfo_init_f32(FAR foc_angle_f32_t *h);
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static void foc_angle_onfo_deinit_f32(FAR foc_angle_f32_t *h);
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static int foc_angle_onfo_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg);
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static int foc_angle_onfo_zero_f32(FAR foc_angle_f32_t *h);
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static int foc_angle_onfo_dir_f32(FAR foc_angle_f32_t *h, float dir);
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static int foc_angle_onfo_run_f32(FAR foc_angle_f32_t *h,
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FAR struct foc_angle_in_f32_s *in,
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FAR struct foc_angle_out_f32_s *out);
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* FOC angle float interface */
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struct foc_angle_ops_f32_s g_foc_angle_onfo_f32 =
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{
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.init = foc_angle_onfo_init_f32,
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.deinit = foc_angle_onfo_deinit_f32,
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.cfg = foc_angle_onfo_cfg_f32,
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.zero = foc_angle_onfo_zero_f32,
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.dir = foc_angle_onfo_dir_f32,
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.run = foc_angle_onfo_run_f32,
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_angle_onfo_init_f32
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*
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* Description:
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* Initialize the sensorless observer FOC angle handler (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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*
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****************************************************************************/
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static int foc_angle_onfo_init_f32(FAR foc_angle_f32_t *h)
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{
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int ret = OK;
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DEBUGASSERT(h);
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/* Connect angle data */
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h->data = zalloc(sizeof(struct foc_ang_onfo_f32_s));
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if (h->data == NULL)
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{
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ret = -ENOMEM;
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goto errout;
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}
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errout:
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return ret;
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}
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/****************************************************************************
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* Name: foc_angle_onfo_deinit_f32
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*
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* Description:
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* De-initialize the sensorless observer FOC angle handler (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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*
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****************************************************************************/
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static void foc_angle_onfo_deinit_f32(FAR foc_angle_f32_t *h)
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{
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DEBUGASSERT(h);
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if (h->data)
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{
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/* Free angle data */
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free(h->data);
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}
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}
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/****************************************************************************
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* Name: foc_angle_onfo_cfg_f32
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*
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* Description:
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* Configure the sensorless observer FOC angle handler (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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* cfg - pointer to angle handler configuration data
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* (struct foc_ang_onfo_f32_s)
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*
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****************************************************************************/
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static int foc_angle_onfo_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg)
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{
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FAR struct foc_ang_onfo_f32_s *ob = NULL;
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int ret = OK;
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DEBUGASSERT(h);
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/* Get sensorless observer data */
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DEBUGASSERT(h->data);
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ob = h->data;
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/* Copy configuration */
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memcpy(&ob->cfg, cfg, sizeof(struct foc_angle_onfo_cfg_f32_s));
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/* Initialize sensorless observer controller data */
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DEBUGASSERT(ob->cfg.per > 0.0f);
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/* Initialize nolinear fluxlink angle observer */
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motor_aobserver_nfo_init(&ob->data);
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/* Initialize sensorless observer */
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motor_aobserver_init(&ob->o, &ob->data, ob->cfg.per);
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/* Initialize with CW direction */
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ob->sensor_dir = DIR_CW;
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return ret;
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}
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/****************************************************************************
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* Name: foc_angle_onfo_zero_f32
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*
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* Description:
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* Zero the sensorless observer FOC angle handler (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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*
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****************************************************************************/
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static int foc_angle_onfo_zero_f32(FAR foc_angle_f32_t *h)
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{
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FAR struct foc_ang_onfo_f32_s *ob = NULL;
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DEBUGASSERT(h);
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/* Get sensorless observer data */
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DEBUGASSERT(h->data);
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ob = h->data;
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/* Reinitialize observer data */
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motor_aobserver_nfo_init(&ob->data);
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/* Reset angle */
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ob->o.angle = 0.0f;
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return OK;
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}
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/****************************************************************************
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* Name: foc_angle_onfo_dir_f32
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*
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* Description:
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* Set the sensorless observer FOC angle handler direction (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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* dir - sensor direction (1 if normal -1 if inverted)
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*
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****************************************************************************/
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static int foc_angle_onfo_dir_f32(FAR foc_angle_f32_t *h, float dir)
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{
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FAR struct foc_ang_onfo_f32_s *ob = NULL;
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DEBUGASSERT(h);
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/* Get sensorless observer data */
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DEBUGASSERT(h->data);
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ob = h->data;
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/* Configure direction */
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ob->sensor_dir = dir;
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return OK;
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}
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/****************************************************************************
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* Name: foc_angle_onfo_run_f32
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*
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* Description:
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* Process the FOC sensorless observer angle data (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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* in - pointer to FOC angle handler input data
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* out - pointer to FOC angle handler output data
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*
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****************************************************************************/
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static int foc_angle_onfo_run_f32(FAR foc_angle_f32_t *h,
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FAR struct foc_angle_in_f32_s *in,
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FAR struct foc_angle_out_f32_s *out)
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{
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FAR struct foc_ang_onfo_f32_s *ob = NULL;
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FAR dq_frame_f32_t v_dq_mod;
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float duty_now;
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float dyn_gain;
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DEBUGASSERT(h);
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/* Get sensorless observer data */
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DEBUGASSERT(h->data);
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ob = h->data;
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if (in->vel == 0.0f)
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{
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/* Do nothing if motor stopped */
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out->type = FOC_ANGLE_TYPE_ELE;
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out->angle = 0.0f;
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return OK;
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}
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/* Normalize the d-q voltage to get the d-q modulation voltage */
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v_dq_mod.d = in->state->vdq.d * in->state->mod_scale;
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v_dq_mod.q = in->state->vdq.q * in->state->mod_scale;
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/* Update duty cycle now */
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duty_now = SIGN(in->state->vdq.q) * vector2d_mag(v_dq_mod.d, v_dq_mod.q);
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/* Update and the observer gain. */
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dyn_gain = LINEAR_MAP(fabsf(duty_now), 0.0f, 1.0f,
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ob->cfg.gain * ob->cfg.gain_slow, ob->cfg.gain) * 0.5f;
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/* Update observer */
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motor_aobserver_nfo(&ob->o, &in->state->iab, &in->state->vab,
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&ob->cfg.phy, dyn_gain);
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/* Copy data */
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out->type = FOC_ANGLE_TYPE_ELE;
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out->angle = ob->sensor_dir * motor_aobserver_angle_get(&ob->o);
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return OK;
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}
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