6cf6a73fc0
reference: https://electronics.stackexchange.com/questions/386246/field-oriented-control-feed-forward-term
67 lines
2.4 KiB
C
67 lines
2.4 KiB
C
/****************************************************************************
|
|
* apps/industry/foc/float/foc_feedforward.c
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <assert.h>
|
|
|
|
#include "industry/foc/float/foc_feedforward.h"
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_feedforward_pmsm_f32
|
|
*
|
|
* Description:
|
|
* Feed forward compensation for PMSM (float32)
|
|
*
|
|
* Input Parameter:
|
|
* phy - motor physical parameters
|
|
* idq - iqd frame
|
|
* vel_now - electrical velocity
|
|
* vdq_comp - compensation vdq frame
|
|
*
|
|
****************************************************************************/
|
|
|
|
int foc_feedforward_pmsm_f32(FAR struct motor_phy_params_f32_s *phy,
|
|
FAR dq_frame_f32_t *idq,
|
|
float vel_now,
|
|
FAR dq_frame_f32_t *vdq_comp)
|
|
{
|
|
DEBUGASSERT(phy);
|
|
DEBUGASSERT(idq);
|
|
DEBUGASSERT(vdq_comp);
|
|
|
|
/* NOTE: vdq_comp is substracted from vdq_ref in foc_current_control()
|
|
* so vq compensation must be negative here.
|
|
*/
|
|
|
|
vdq_comp->q = -vel_now * (phy->flux_link + phy->ind * idq->q);
|
|
vdq_comp->d = vel_now * phy->ind * idq->q;
|
|
|
|
return OK;
|
|
}
|