327 lines
9.0 KiB
C
327 lines
9.0 KiB
C
/****************************************************************************
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* apps/industry/foc/fixed16/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/fixed16/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) ? b16ONE : -b16ONE)
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#define LINEAR_MAP(x, in_min, in_max, out_min, out_max) \
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(b16divb16(b16mulb16((x - in_min), (out_max - out_min)), \
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(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_b16_s
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{
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struct foc_angle_onfo_cfg_b16_s cfg;
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struct motor_aobserver_nfo_b16_s data;
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struct motor_aobserver_b16_s o;
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b16_t 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_b16(FAR foc_angle_b16_t *h);
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static void foc_angle_onfo_deinit_b16(FAR foc_angle_b16_t *h);
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static int foc_angle_onfo_cfg_b16(FAR foc_angle_b16_t *h, FAR void *cfg);
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static int foc_angle_onfo_zero_b16(FAR foc_angle_b16_t *h);
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static int foc_angle_onfo_dir_b16(FAR foc_angle_b16_t *h, b16_t dir);
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static int foc_angle_onfo_run_b16(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_in_b16_s *in,
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FAR struct foc_angle_out_b16_s *out);
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* FOC angle b16_t interface */
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struct foc_angle_ops_b16_s g_foc_angle_onfo_b16 =
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{
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.init = foc_angle_onfo_init_b16,
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.deinit = foc_angle_onfo_deinit_b16,
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.cfg = foc_angle_onfo_cfg_b16,
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.zero = foc_angle_onfo_zero_b16,
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.dir = foc_angle_onfo_dir_b16,
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.run = foc_angle_onfo_run_b16,
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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_b16
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*
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* Description:
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* Initialize the sensorless observer FOC angle handler (fixed16)
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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_b16(FAR foc_angle_b16_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_b16_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_b16
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*
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* Description:
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* De-initialize the sensorless observer FOC angle handler (fixed16)
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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_b16(FAR foc_angle_b16_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_b16
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*
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* Description:
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* Configure the sensorless observer FOC angle handler (fixed16)
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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_b16_s)
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*
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****************************************************************************/
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static int foc_angle_onfo_cfg_b16(FAR foc_angle_b16_t *h, FAR void *cfg)
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{
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FAR struct foc_ang_onfo_b16_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_b16_s));
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/* Initialize sensorless observer controller data */
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DEBUGASSERT(ob->cfg.per > 0);
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/* Initialize nolinear fluxlink angle observer */
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motor_aobserver_nfo_init_b16(&ob->data);
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/* Initialize sensorless observer */
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motor_aobserver_init_b16(&ob->o, &ob->data, ob->cfg.per);
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/* Initialize with CW direction */
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ob->sensor_dir = DIR_CW_B16;
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return ret;
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}
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/****************************************************************************
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* Name: foc_angle_onfo_zero_b16
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*
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* Description:
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* Zero the sensorless observer FOC angle handler (fixed16)
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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_b16(FAR foc_angle_b16_t *h)
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{
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FAR struct foc_ang_onfo_b16_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_b16(&ob->data);
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/* Reset angle */
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ob->o.angle = 0;
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return OK;
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}
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/****************************************************************************
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* Name: foc_angle_onfo_dir_b16
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*
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* Description:
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* Set the sensorless observer FOC angle handler direction (fixed16)
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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_b16(FAR foc_angle_b16_t *h, b16_t dir)
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{
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FAR struct foc_ang_onfo_b16_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_b16
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*
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* Description:
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* Process the FOC sensorless observer angle data (fixed16)
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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_b16(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_in_b16_s *in,
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FAR struct foc_angle_out_b16_s *out)
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{
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FAR struct foc_ang_onfo_b16_s *ob = NULL;
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FAR dq_frame_b16_t v_dq_mod;
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b16_t duty_now;
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b16_t 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)
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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;
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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
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* voltage
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*/
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v_dq_mod.d = b16mulb16(in->state->vdq.d, in->state->mod_scale);
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v_dq_mod.q = b16mulb16(in->state->vdq.q, in->state->mod_scale);
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/* Update duty cycle now */
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duty_now = b16mulb16(SIGN(in->state->vdq.q),
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vector2d_mag_b16(v_dq_mod.d, v_dq_mod.q));
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/* Update and the observer gain. */
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dyn_gain = b16mulb16(LINEAR_MAP(b16abs(duty_now),
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0,
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b16ONE,
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b16mulb16(ob->cfg.gain, ob->cfg.gain_slow),
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ob->cfg.gain),
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b16HALF);
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/* Update observer */
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motor_aobserver_nfo_b16(&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 = b16mulb16(ob->sensor_dir,
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motor_aobserver_angle_get_b16(&ob->o));
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return OK;
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}
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