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libdsp: initialize flux_link in params, remove flux_link from pmsm_phy_params

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This commit is contained in:
raiden00pl 2022-02-19 21:10:09 +01:00 committed by Xiang Xiao
parent ca4790c429
commit 1366e14192
6 changed files with 21 additions and 18 deletions
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6
include/dsp.h
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@ -383,7 +383,7 @@ struct motor_phy_params_f32_s
{
uint8_t p; /* Number of the motor pole pairs */
float flux_link; /* Flux linkage */
float res; /* Phase-to-neutral resistance */
float res; /* Average phase-to-neutral resistance */
float ind; /* Average phase-to-neutral inductance */
float one_by_ind; /* Inverse phase-to-neutral inductance */
float one_by_p; /* Inverse number of motor pole pairs */
@ -395,7 +395,6 @@ struct pmsm_phy_params_f32_s
{
struct motor_phy_params_f32_s motor; /* Motor common PHY */
float iner; /* Rotor inertia */
float flux_link; /* Flux linkage */
float ind_d; /* d-inductance */
float ind_q; /* q-inductance */
float one_by_iner; /* One by intertia */
@ -583,7 +582,8 @@ float motor_angle_e_get(FAR struct motor_angle_f32_s *angle);
/* Motor physical parameters */
void motor_phy_params_init(FAR struct motor_phy_params_f32_s *phy,
uint8_t poles, float res, float ind);
uint8_t poles, float res, float ind,
float fluxlink);
/* PMSM physical parameters functions */

9
include/dspb16.h
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@ -294,9 +294,8 @@ struct foc_data_b16_s
struct motor_phy_params_b16_s
{
uint8_t p; /* Number of the motor pole pairs */
b16_t res; /* Phase-to-neutral temperature compensated
* resistance
*/
b16_t flux_link; /* Flux linkage */
b16_t res; /* Average phase-to-neutral resistance */
b16_t ind; /* Average phase-to-neutral inductance */
b16_t one_by_ind; /* Inverse phase-to-neutral inductance */
b16_t one_by_p; /* Inverse number of motor pole pairs */
@ -308,7 +307,6 @@ struct pmsm_phy_params_b16_s
{
struct motor_phy_params_b16_s motor; /* Motor common PHY */
b16_t iner; /* Rotor inertia */
b16_t flux_link; /* Flux linkage */
b16_t ind_d; /* d-inductance */
b16_t ind_q; /* q-inductance */
b16_t one_by_iner; /* One by J */
@ -467,7 +465,8 @@ b16_t motor_angle_e_get_b16(FAR struct motor_angle_b16_s *angle);
/* Motor physical parameters */
void motor_phy_params_init_b16(FAR struct motor_phy_params_b16_s *phy,
uint8_t poles, b16_t res, b16_t ind);
uint8_t poles, b16_t res, b16_t ind,
b16_t fluxlink);
/* PMSM physical parameters functions */

8
libs/libdsp/lib_motor.c
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@ -355,6 +355,7 @@ float motor_angle_e_get(FAR struct motor_angle_f32_s *angle)
* res - (in) average phase-to-neutral base motor resistance
* (without temperature compensation)
* ind - (in) average phase-to-neutral motor inductance
* flux - (in) flux linkage
*
* Returned Value:
* None
@ -362,13 +363,15 @@ float motor_angle_e_get(FAR struct motor_angle_f32_s *angle)
****************************************************************************/
void motor_phy_params_init(FAR struct motor_phy_params_f32_s *phy,
uint8_t poles, float res, float ind)
uint8_t poles, float res, float ind,
float flux_link)
{
LIBDSP_DEBUGASSERT(phy != NULL);
memset(phy, 0, sizeof(struct motor_phy_params_f32_s));
phy->p = poles;
phy->flux_link = flux_link;
phy->res = res;
phy->ind = ind;
phy->one_by_ind = (1.0f / ind);
@ -406,12 +409,11 @@ void pmsm_phy_params_init(FAR struct pmsm_phy_params_f32_s *phy,
/* Initialize motor phy */
motor_phy_params_init(&phy->motor, poles, res, ind);
motor_phy_params_init(&phy->motor, poles, res, ind, flux);
/* Iniitalize PMSM specific data */
phy->iner = iner;
phy->flux_link = flux;
phy->ind_d = ind_d;
phy->ind_q = ind_q;
phy->one_by_iner = (1.0f / iner);

8
libs/libdsp/lib_motor_b16.c
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@ -307,6 +307,7 @@ b16_t motor_angle_e_get_b16(FAR struct motor_angle_b16_s *angle)
* res - (in) average phase-to-neutral base motor resistance
* (without temperature compensation)
* ind - (in) average phase-to-neutral motor inductance
* flux - (in) flux linkage
*
* Returned Value:
* None
@ -314,13 +315,15 @@ b16_t motor_angle_e_get_b16(FAR struct motor_angle_b16_s *angle)
****************************************************************************/
void motor_phy_params_init_b16(FAR struct motor_phy_params_b16_s *phy,
uint8_t poles, b16_t res, b16_t ind)
uint8_t poles, b16_t res, b16_t ind,
b16_t flux_link)
{
LIBDSP_DEBUGASSERT(phy != NULL);
memset(phy, 0, sizeof(struct motor_phy_params_b16_s));
phy->p = poles;
phy->flux_link = flux_link;
phy->res = res;
phy->ind = ind;
phy->one_by_ind = b16divb16(b16ONE, ind);
@ -358,12 +361,11 @@ void pmsm_phy_params_init_b16(FAR struct pmsm_phy_params_b16_s *phy,
/* Initialize motor phy */
motor_phy_params_init_b16(&phy->motor, poles, res, ind);
motor_phy_params_init_b16(&phy->motor, poles, res, ind, flux);
/* Iniitalize PMSM specific data */
phy->iner = iner;
phy->flux_link = flux;
phy->ind_d = ind_d;
phy->ind_q = ind_q;
phy->one_by_iner = b16divb16(b16ONE, iner);

4
libs/libdsp/lib_pmsm_model.c
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@ -187,7 +187,7 @@ int pmsm_model_elec(FAR struct pmsm_model_f32_s *model,
tmp1 = model->phy.motor.res * model->state.i_dq.q;
tmp2 = model->phy.ind_d * model->state.i_dq.d;
tmp3 = tmp2 + model->phy.flux_link;
tmp3 = tmp2 + model->phy.motor.flux_link;
tmp4 = model->state.omega_e * tmp3;
tmp5 = model->state.v_dq.q - tmp1 - tmp4;
tmp6 = model->per * tmp5;
@ -248,7 +248,7 @@ int pmsm_model_mech(FAR struct pmsm_model_f32_s *model, float load)
tmp1 = model->phy.ind_d - model->phy.ind_q;
tmp2 = tmp1 * model->state.i_dq.d;
tmp3 = model->phy.flux_link - tmp2;
tmp3 = model->phy.motor.flux_link - tmp2;
tmp4 = 1.5f * model->phy.motor.p;
tmp5 = tmp4 * model->state.i_dq.q;

4
libs/libdsp/lib_pmsm_model_b16.c
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@ -100,7 +100,7 @@ int pmsm_model_elec_b16(FAR struct pmsm_model_b16_s *model,
tmp1 = b16mulb16(model->phy.motor.res, model->state.i_dq.q);
tmp2 = b16mulb16(model->phy.ind_d, model->state.i_dq.d);
tmp3 = tmp2 + model->phy.flux_link;
tmp3 = tmp2 + model->phy.motor.flux_link;
tmp4 = b16mulb16(model->state.omega_e, tmp3);
tmp5 = model->state.v_dq.q - tmp1 - tmp4;
tmp6 = b16mulb16(model->per, tmp5);
@ -161,7 +161,7 @@ int pmsm_model_mech_b16(FAR struct pmsm_model_b16_s *model, b16_t load)
tmp1 = model->phy.ind_d - model->phy.ind_q;
tmp2 = b16mulb16(tmp1, model->state.i_dq.d);
tmp3 = model->phy.flux_link - tmp2;
tmp3 = model->phy.motor.flux_link - tmp2;
tmp4 = b16mulb16((b16ONE + b16HALF), itob16(model->phy.motor.p));
tmp5 = b16mulb16(tmp4, model->state.i_dq.q);