/****************************************************************************
* libs/libdsp/lib_foc.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 <string.h>
#include <stdbool.h>
#include <dsp.h>
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: foc_current_controller
*
* Description:
* This function implements FOC current controller algorithm.
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* v_dq_req - (in) pointer to the voltage DQ request frame
*
* Returned Value:
* None
*
****************************************************************************/
static void foc_current_controller(FAR struct foc_data_f32_s *foc,
FAR dq_frame_f32_t *v_dq_req)
{
FAR pid_controller_f32_t *id_pid = &foc->id_pid;
FAR pid_controller_f32_t *iq_pid = &foc->iq_pid;
LIBDSP_DEBUGASSERT(foc != NULL);
LIBDSP_DEBUGASSERT(v_dq_req != NULL);
/* Get dq current error */
foc->i_dq_err.d = foc->i_dq_ref.d - foc->i_dq.d;
foc->i_dq_err.q = foc->i_dq_ref.q - foc->i_dq.q;
/* NOTE: PI controllers saturation is updated in foc_vdq_mag_max_set() */
/* PI controller for d-current (flux loop) */
v_dq_req->d = pi_controller(id_pid, foc->i_dq_err.d);
/* PI controller for q-current (torque loop) */
v_dq_req->q = pi_controller(iq_pid, foc->i_dq_err.q);
}
/****************************************************************************
* Name: foc_vab_mod_scale_set
*
* Description:
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* scale - (in) scaling factor for alpha-beta voltage
*
* Returned Value:
* None
*
****************************************************************************/
static void foc_vab_mod_scale_set(FAR struct foc_data_f32_s *foc,
float scale)
{
LIBDSP_DEBUGASSERT(foc != NULL);
foc->vab_mod_scale = scale;
}
/****************************************************************************
* Name: foc_vdq_mag_max_set
*
* Description:
* Set maximum dq voltage vector magnitude
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* max - (in) maximum dq voltage magnitude
*
* Returned Value:
* None
*
****************************************************************************/
static void foc_vdq_mag_max_set(FAR struct foc_data_f32_s *foc, float max)
{
LIBDSP_DEBUGASSERT(foc != NULL);
foc->vdq_mag_max = max;
/* Update regulators saturation */
pi_saturation_set(&foc->id_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
pi_saturation_set(&foc->iq_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
}
/****************************************************************************
* Name: foc_vdq_ref_set
*
* Description:
* Set dq requested voltage vector
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* vdq_ref - (in) pointer to the requested idq voltage
*
* Returned Value:
* None
*
****************************************************************************/
static void foc_vdq_ref_set(FAR struct foc_data_f32_s *foc,
FAR dq_frame_f32_t *vdq_ref)
{
LIBDSP_DEBUGASSERT(foc != NULL);
LIBDSP_DEBUGASSERT(vdq_ref != NULL);
foc->v_dq.d = vdq_ref->d;
foc->v_dq.q = vdq_ref->q;
}
/****************************************************************************
* Name: foc_idq_ref_set
*
* Description:
* Set dq reference current vector
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* idq_ref - (in) pointer to the reference idq current
*
* Returned Value:
* None
*
****************************************************************************/
static void foc_idq_ref_set(FAR struct foc_data_f32_s *foc,
FAR dq_frame_f32_t *idq_ref)
{
LIBDSP_DEBUGASSERT(foc != NULL);
LIBDSP_DEBUGASSERT(idq_ref != NULL);
foc->i_dq_ref.d = idq_ref->d;
foc->i_dq_ref.q = idq_ref->q;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_init
*
* Description:
* Initialize FOC controller
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* init - (in) pointer to the FOC initialization data
*
* Returned Value:
* None
*
****************************************************************************/
void foc_init(FAR struct foc_data_f32_s *foc,
FAR struct foc_initdata_f32_s *init)
{
/* Reset data */
memset(foc, 0, sizeof(struct foc_data_f32_s));
/* Initialize PI current d component */
pi_controller_init(&foc->id_pid, init->id_kp, init->id_ki);
/* Initialize PI current q component */
pi_controller_init(&foc->iq_pid, init->iq_kp, init->iq_ki);
/* Disable PI intergral part reset when saturated */
pi_ireset_enable(&foc->iq_pid, false);
pi_ireset_enable(&foc->id_pid, false);
/* Enable PI anti-windup protection */
pi_antiwindup_enable(&foc->iq_pid, 0.99, true);
pi_antiwindup_enable(&foc->id_pid, 0.99, true);
}
/****************************************************************************
* Name: foc_vbase_update
*
* Description:
* Update base voltage for FOC controller
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* vbase - (in) base voltage for FOC
*
* Returned Value:
* None
*
****************************************************************************/
void foc_vbase_update(FAR struct foc_data_f32_s *foc, float vbase)
{
float scale = 0.0f;
float mag_max = 0.0f;
/* Prevent division by zero */
if (vbase < 1e-10f)
{
vbase = 1e-10f;
}
/* NOTE: this is base voltage for FOC, not bus voltage! */
scale = (1.0f / vbase);
mag_max = vbase;
/* Update */
foc_vab_mod_scale_set(foc, scale);
foc_vdq_mag_max_set(foc, mag_max);
}
/****************************************************************************
* Name: foc_angle_update
*
* Description:
* Update FOC data with new motor phase angle.
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* angle - (in) pointer to the phase angle data
*
* Returned Value:
* None
*
****************************************************************************/
void foc_angle_update(FAR struct foc_data_f32_s *foc,
FAR phase_angle_f32_t *angle)
{
LIBDSP_DEBUGASSERT(foc != NULL);
LIBDSP_DEBUGASSERT(angle != NULL);
/* Copy angle to foc data */
foc->angle.angle = angle->angle;
foc->angle.sin = angle->sin;
foc->angle.cos = angle->cos;
}
/****************************************************************************
* Name: foc_iabc_update
*
* Description:
* Update FOC data with new iabc frame.
*
* To work properly this function requires some additional steps:
* 1. phase angle must be set with foc_angle_update()
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* i_abc - (in) pointer to the ABC current frame
*
* Returned Value:
* None
*
****************************************************************************/
void foc_iabc_update(FAR struct foc_data_f32_s *foc,
FAR abc_frame_f32_t *i_abc)
{
dq_frame_f32_t i_dq;
LIBDSP_DEBUGASSERT(foc != NULL);
LIBDSP_DEBUGASSERT(i_abc != NULL);
/* Reset data */
i_dq.d = 0;
i_dq.q = 0;
/* Copy ABC current to foc data */
foc->i_abc.a = i_abc->a;
foc->i_abc.b = i_abc->b;
foc->i_abc.c = i_abc->c;
/* Convert abc current to alpha-beta current */
clarke_transform(&foc->i_abc, &foc->i_ab);
/* Convert alpha-beta current to dq current */
park_transform(&foc->angle, &foc->i_ab, &i_dq);
/* Store dq current */
foc->i_dq.d = i_dq.d;
foc->i_dq.q = i_dq.q;
}
/****************************************************************************
* Name: foc_voltage_control
*
* Description:
* Process FOC voltage control.
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* vdq_ref - (in) voltage dq reference frame
*
* Returned Value:
* None
*
****************************************************************************/
void foc_voltage_control(FAR struct foc_data_f32_s *foc,
FAR dq_frame_f32_t *vdq_ref)
{
LIBDSP_DEBUGASSERT(foc != NULL);
/* Update VDQ request */
foc_vdq_ref_set(foc, vdq_ref);
/* Inverse Park transform (voltage dq -> voltage alpha-beta) */
inv_park_transform(&foc->angle, &foc->v_dq, &foc->v_ab);
#ifdef CONFIG_LIBDSP_FOC_VABC
/* Inverse Clarke transform (voltage alpha-beta -> voltage abc) */
inv_clarke_transform(&foc->v_ab, &foc->v_abc);
#endif
/* Normalize the alpha-beta voltage to get the alpha-beta modulation
* voltage
*/
foc->v_ab_mod.a = foc->v_ab.a * foc->vab_mod_scale;
foc->v_ab_mod.b = foc->v_ab.b * foc->vab_mod_scale;
}
/****************************************************************************
* Name: foc_current_control
*
* Description:
* Process FOC current control.
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* idq_ref - (in) current dq reference frame
* vdq_comp - (in) voltage dq compensation frame
* vdq_ref - (out) voltage dq reference frame
*
* Returned Value:
* None
*
* TODO: add some reference and a brief description of the FOC
*
****************************************************************************/
void foc_current_control(FAR struct foc_data_f32_s *foc,
FAR dq_frame_f32_t *idq_ref,
FAR dq_frame_f32_t *vdq_comp,
FAR dq_frame_f32_t *vdq_ref)
{
LIBDSP_DEBUGASSERT(foc != NULL);
/* Update IDQ reference */
foc_idq_ref_set(foc, idq_ref);
/* Run FOC current controller (current dq -> voltage dq) */
foc_current_controller(foc, vdq_ref);
/* DQ voltage compensation */
vdq_ref->d = vdq_ref->d - vdq_comp->d;
vdq_ref->q = vdq_ref->q - vdq_comp->q;
}
/****************************************************************************
* Name: foc_vabmod_get
*
* Description:
* Get result from the FOC controller (foc_current_control or
* foc_voltage_control)
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* v_ab_mod - (out) pointer to the voltage alpha-beta modulation frame
*
* Returned Value:
* None
*
****************************************************************************/
void foc_vabmod_get(FAR struct foc_data_f32_s *foc,
FAR ab_frame_f32_t *v_ab_mod)
{
LIBDSP_DEBUGASSERT(foc != NULL);
LIBDSP_DEBUGASSERT(v_ab_mod != NULL);
v_ab_mod->a = foc->v_ab_mod.a;
v_ab_mod->b = foc->v_ab_mod.b;
}
/****************************************************************************
* Name: foc_vdq_mag_max_get
*
* Description:
* Get maximum dq voltage vector magnitude
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* max - (out) maximum dq voltage magnitude
*
* Returned Value:
* None
*
****************************************************************************/
void foc_vdq_mag_max_get(FAR struct foc_data_f32_s *foc, FAR float *max)
{
LIBDSP_DEBUGASSERT(foc != NULL);
*max = foc->vdq_mag_max;
}