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libdsp/lib_svm.c: return not saturated output from modulator, the current corection now takes float as an arguments

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raiden00pl 2021-02-28 22:04:48 +01:00 committed by Xiang Xiao
parent e0bab18b07
commit eea371093c
2 changed files with 8 additions and 19 deletions
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6
include/dsp.h
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@ -231,8 +231,6 @@ struct svm3_state_f32_s
float d_u; /* Duty cycle for phase U */ float d_u; /* Duty cycle for phase U */
float d_v; /* Duty cycle for phase V */ float d_v; /* Duty cycle for phase V */
float d_w; /* Duty cycle for phase W */ float d_w; /* Duty cycle for phase W */
float d_max; /* Duty cycle max */
float d_min; /* Duty cycle min */
}; };
/* Motor open-loop control data */ /* Motor open-loop control data */
@ -411,10 +409,10 @@ void phase_angle_update(FAR struct phase_angle_f32_s *angle, float val);
/* 3-phase system space vector modulation */ /* 3-phase system space vector modulation */
void svm3_init(FAR struct svm3_state_f32_s *s, float min, float max); void svm3_init(FAR struct svm3_state_f32_s *s);
void svm3(FAR struct svm3_state_f32_s *s, FAR ab_frame_f32_t *ab); void svm3(FAR struct svm3_state_f32_s *s, FAR ab_frame_f32_t *ab);
void svm3_current_correct(FAR struct svm3_state_f32_s *s, void svm3_current_correct(FAR struct svm3_state_f32_s *s,
int32_t *c0, int32_t *c1, int32_t *c2); float *c0, float *c1, float *c2);
/* Field Oriented control */ /* Field Oriented control */

21
libs/libdsp/lib_svm.c
View File

@ -312,9 +312,6 @@ static void svm3_duty_calc(FAR struct svm3_state_f32_s *s,
* NOTE: v_ab vector magnitude must be in range <0.0, 1.0> to get correct * NOTE: v_ab vector magnitude must be in range <0.0, 1.0> to get correct
* SVM3 results. * SVM3 results.
* *
* REVISIT: not sure how we should handle invalid data from user.
* For now we saturate output duty form SVM.
*
* REFERENCE: * REFERENCE:
* https://e2e.ti.com/group/motor/m/pdf_presentations/665547/download * https://e2e.ti.com/group/motor/m/pdf_presentations/665547/download
* pages 32-34 * pages 32-34
@ -344,11 +341,10 @@ void svm3(FAR struct svm3_state_f32_s *s, FAR ab_frame_f32_t *v_ab)
svm3_duty_calc(s, &ijk); svm3_duty_calc(s, &ijk);
/* Saturate output from SVM */ /* NOTE: we return not-saturated output. Duty-cycle saturation is
* board-specific characteristic and we have not access to this
f_saturate(&s->d_u, s->d_min, s->d_max); * information here.
f_saturate(&s->d_v, s->d_min, s->d_max); */
f_saturate(&s->d_w, s->d_min, s->d_max);
} }
/**************************************************************************** /****************************************************************************
@ -361,7 +357,7 @@ void svm3(FAR struct svm3_state_f32_s *s, FAR ab_frame_f32_t *v_ab)
****************************************************************************/ ****************************************************************************/
void svm3_current_correct(FAR struct svm3_state_f32_s *s, void svm3_current_correct(FAR struct svm3_state_f32_s *s,
int32_t *c0, int32_t *c1, int32_t *c2) float *c0, float *c1, float *c2)
{ {
/* Get best ADC samples according to SVM sector. /* Get best ADC samples according to SVM sector.
* *
@ -426,20 +422,15 @@ void svm3_current_correct(FAR struct svm3_state_f32_s *s,
* *
* Input Parameters: * Input Parameters:
* s - (in/out) pointer to the SVM state data * s - (in/out) pointer to the SVM state data
* sat - (in)
* *
* Returned Value: * Returned Value:
* None * None
* *
****************************************************************************/ ****************************************************************************/
void svm3_init(FAR struct svm3_state_f32_s *s, float min, float max) void svm3_init(FAR struct svm3_state_f32_s *s)
{ {
LIBDSP_DEBUGASSERT(s != NULL); LIBDSP_DEBUGASSERT(s != NULL);
LIBDSP_DEBUGASSERT(max > min);
memset(s, 0, sizeof(struct svm3_state_f32_s)); memset(s, 0, sizeof(struct svm3_state_f32_s));
s->d_max = max;
s->d_min = min;
} }