/****************************************************************************
* control/lib_observer.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 <dsp.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define ANGLE_DIFF_THR (M_PI_F)
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: motor_observer_init
*
* Description:
* Initialize motor observer
*
* Input Parameters:
* observer - pointer to the common observer data
* ao - pointer to the angle specific observer data
* so - pointer to the speed specific observer data
* per - observer execution period
*
* Returned Value:
* None
*
****************************************************************************/
void motor_observer_init(FAR struct motor_observer_s *observer,
FAR void *ao, FAR void *so, float per)
{
DEBUGASSERT(observer != NULL);
DEBUGASSERT(ao != NULL);
DEBUGASSERT(so != NULL);
DEBUGASSERT(per > 0.0f);
/* Reset observer data */
memset(observer, 0, sizeof(struct motor_observer_s));
/* Set observer period */
observer->per = per;
/* Connect angle estimation observer data */
observer->ao = ao;
/* Connect speed estimation observer data */
observer->so = so;
}
/****************************************************************************
* Name: motor_observer_smo_init
*
* Description:
* Initialize motor sliding mode observer.
*
* Input Parameters:
* smo - pointer to the sliding mode observer private data
* kslide - SMO gain
* err_max - linear region upper limit
*
* Returned Value:
* None
*
****************************************************************************/
void motor_observer_smo_init(FAR struct motor_observer_smo_s *smo,
float kslide,
float err_max)
{
DEBUGASSERT(smo != NULL);
DEBUGASSERT(kslide > 0.0f);
DEBUGASSERT(err_max > 0.0f);
/* Reset structure */
memset(smo, 0, sizeof(struct motor_observer_smo_s));
/* Initialize structure */
smo->k_slide = kslide;
smo->err_max = err_max;
}
/****************************************************************************
* Name: motor_observer_smo
*
* Description:
* One step of the SMO observer.
* REFERENCE: http://ww1.microchip.com/downloads/en/AppNotes/01078B.pdf
*
* Below some theoretical backgrounds about SMO.
*
* The digitalized motor model can be represent as:
*
* d(i_s.)/dt = (-R/L)*i_s. + (1/L)*(v_s - e_s. - z)
*
* We compare estimated current (i_s.) with measured current (i_s):
*
* err = i_s. - i_s
*
* and get correction factor (z):
*
* sign = sing(err)
* z = sign*K_SLIDE
*
* Once the digitalized model is compensated, we estimate BEMF (e_s.) by
* filtering z:
*
* e_s. = low_pass(z)
*
* The estimated BEMF is filtered once again and used to approximate the
* motor angle:
*
* e_filtered_s. = low_pass(e_s.)
* theta = arctan(-e_alpha/e_beta)
*
* The estimated theta is phase-shifted due to low pass filtration, so we
* need some phase compensation. More details below.
*
* where:
* v_s - phase input voltage vector
* i_s. - estimated phase current vector
* i_s - phase current vector
* e_s. - estimated phase BEMF vector
* R - motor winding resistance
* L - motor winding inductance
* z - output correction factor voltage
*
* Input Parameters:
* o - (in/out) pointer to the common observer data
* i_ab - (in) inverter alpha-beta current
* v_ab - (in) inverter alpha-beta voltage
* phy - (in) pointer to the motor physical parameters
* dir - (in) rotation direction (1.0 for CW, -1.0 for CCW)
*
* Returned Value:
* None
*
****************************************************************************/
void motor_observer_smo(FAR struct motor_observer_s *o, FAR ab_frame_t *i_ab,
FAR ab_frame_t *v_ab,
FAR struct motor_phy_params_s *phy, float dir)
{
DEBUGASSERT(o != NULL);
DEBUGASSERT(i_ab != NULL);
DEBUGASSERT(v_ab != NULL);
DEBUGASSERT(phy != NULL);
FAR struct motor_observer_smo_s *smo =
(FAR struct motor_observer_smo_s *)o->ao;
FAR ab_frame_t *emf = &smo->emf;
FAR ab_frame_t *emf_f = &smo->emf_f;
FAR ab_frame_t *z = &smo->z;
FAR ab_frame_t *i_est = &smo->i_est;
FAR ab_frame_t *v_err = &smo->v_err;
FAR ab_frame_t *i_err = &smo->i_err;
FAR ab_frame_t *sign = &smo->sign;
float i_err_a_abs = 0.0f;
float i_err_b_abs = 0.0f;
float angle = 0.0f;
float filter = 0.0f;
/* REVISIT: observer works only when IQ current is high enough */
/* Calculate observer gains */
smo->F = (1.0f - o->per * phy->res * phy->one_by_ind);
smo->G = o->per * phy->one_by_ind;
/* Saturate F gain */
if (smo->F < 0.0f)
{
smo->F = 0.0f;
}
/* Saturate G gain */
if (smo->G > 0.999f)
{
smo->G = 0.999f;
}
/* Configure low pass filters
*
* We tune low-pass filters to achieve cutoff frequency equal to
* input singal frequency. This gives us constant phase shift between
* input and outpu signals equals to:
*
* phi = -arctan(f_in/f_c) = -arctan(1) = -45deg = -PI/4
*
* Input signal frequency is equal to the frequency of the motor currents,
* which give us:
*
* f_c = omega_e/(2*PI)
* omega_m = omega_e/pole_pairs
* f_c = omega_m*pole_pairs/(2*PI)
*
* filter = T * (2*PI) * f_c
* filter = T * omega_m * pole_pairs
*
* T - [s] period at which the digital filter is being
* calculated
* f_in - [Hz] input frequency of the filter
* f_c - [Hz] cutoff frequency of the filter
* omega_m - [rad/s] mechanical angular velocity
* omega_e - [rad/s] electrical angular velocity
* pole_pairs - pole pairs
*
*/
filter = o->per * o->speed * phy->p;
/* Limit SMO filters
* REVISIT: lowest filter limit should depend on minimum speed:
* filter = T * (2*PI) * f_c = T * omega0
*
*/
if (filter >= 1.0f)
{
filter = 0.99f;
}
else if (filter <= 0.0f)
{
filter = 0.005f;
}
smo->emf_lp_filter1 = filter;
smo->emf_lp_filter2 = smo->emf_lp_filter1;
/* Get voltage error: v_err = v_ab - emf */
v_err->a = v_ab->a - emf->a;
v_err->b = v_ab->b - emf->b;
/* Estimate stator current */
i_est->a = smo->F * i_est->a + smo->G * (v_err->a - z->a);
i_est->b = smo->F * i_est->b + smo->G * (v_err->b - z->b);
/* Get motor current error */
i_err->a = i_ab->a - i_est->a;
i_err->b = i_ab->b - i_est->b;
/* Slide-mode controller */
sign->a = (i_err->a > 0.0f ? 1.0f : -1.0f);
sign->b = (i_err->b > 0.0f ? 1.0f : -1.0f);
/* Get current error absolute value - just multiply value with its sign */
i_err_a_abs = i_err->a * sign->a;
i_err_b_abs = i_err->b * sign->b;
/* Calculate new output correction factor voltage */
if (i_err_a_abs < smo->err_max)
{
/* Enter linear region if error is small enough */
z->a = i_err->a * smo->k_slide / smo->err_max;
}
else
{
/* Non-linear region */
z->a = sign->a * smo->k_slide;
}
if (i_err_b_abs < smo->err_max)
{
/* Enter linear region if error is small enough */
z->b = i_err->b * smo->k_slide / smo->err_max;
}
else
{
/* Non-linear region */
z->b = sign->b * smo->k_slide;
}
/* Filter z to obtain estimated emf */
LP_FILTER(emf->a, z->a, smo->emf_lp_filter1);
LP_FILTER(emf->b, z->b, smo->emf_lp_filter1);
/* Filter emf one more time before angle stimation */
LP_FILTER(emf_f->a, emf->a, smo->emf_lp_filter2);
LP_FILTER(emf_f->b, emf->b, smo->emf_lp_filter2);
/* Estimate phase angle according to:
* emf_a = -|emf| * sin(th)
* emf_b = |emf| * cos(th)
* th = atan2(-emf_a, emf->b)
*/
angle = fast_atan2(-emf->a, emf->b);
#if 1
/* Some assertions
* TODO: simplify
*/
if (angle != angle) angle = 0.0f;
if (emf->a != emf->a) emf->a = 0.0f;
if (emf->b != emf->b) emf->b = 0.0f;
if (z->a != z->a) z->a = 0.0f;
if (z->b != z->b) z->b = 0.0f;
if (i_est->a != i_est->a) i_est->a = 0.0f;
if (i_est->b != i_est->b) i_est->b = 0.0f;
#endif
/* Angle compensation.
* Due to low pass filtering we have some delay in estimated phase angle.
*
* Adaptive filters introduced above cause -PI/4 phase shift for each
* filter. We use 2 times filtering which give us constant -PI/2 (-90deg)
* phase shift.
*/
angle = angle + dir * M_PI_2_F;
/* Normalize angle to range <0, 2PI> */
angle_norm_2pi(&angle, 0.0f, 2.0f*M_PI_F);
/* Store estimated angle in observer data */
o->angle = angle;
}
/****************************************************************************
* Name: motor_sobserver_div_init
*
* Description:
* Initialize DIV speed observer
*
* Input Parameters:
* so - (in/out) pointer to the DIV speed observer data
* sample - (in) number of mechanical angle samples
* filter - (in) low-pass filter for final omega
* per - (in) speed observer execution period
*
* Returned Value:
* None
*
****************************************************************************/
void motor_sobserver_div_init(FAR struct motor_sobserver_div_s *so,
uint8_t samples,
float filter,
float per)
{
DEBUGASSERT(so != NULL);
DEBUGASSERT(samples > 0);
DEBUGASSERT(filter > 0.0f);
/* Reset observer data */
memset(so, 0, sizeof(struct motor_sobserver_div_s));
/* Store number of samples for DIV observer */
so->samples = samples;
/* Store low-pass filter for DIV observer speed */
so->filter = filter;
/* */
so->one_by_dt = 1.0f / (so->samples * per);
}
/****************************************************************************
* Name: motor_sobserver_div
*
* Description:
* Estimate motor mechanical speed based on motor mechanical angle
* difference.
*
* Input Parameters:
* o - (in/out) pointer to the common observer data
* angle - (in) mechanical angle normalized to <0.0, 2PI>
* dir - (in) mechanical rotation direction. Valid values:
* DIR_CW (1.0f) or DIR_CCW(-1.0f)
*
****************************************************************************/
void motor_sobserver_div(FAR struct motor_observer_s *o,
float angle, float dir)
{
DEBUGASSERT(o != NULL);
DEBUGASSERT(angle >= 0.0f && angle <= 2*M_PI_F);
DEBUGASSERT(dir == DIR_CW || dir == DIR_CCW);
FAR struct motor_sobserver_div_s *so =
(FAR struct motor_sobserver_div_s *)o->so;
volatile float omega = 0.0f;
/* Get angle diff */
so->angle_diff = angle - so->angle_prev;
/* Correct angle if we crossed angle boundary
* REVISIT:
*/
if ((dir == DIR_CW && so->angle_diff < -ANGLE_DIFF_THR) ||
(dir == DIR_CCW && so->angle_diff > ANGLE_DIFF_THR))
{
/* Correction sign depends on rotation direction */
so->angle_diff += dir * 2 * M_PI_F;
}
/* Get absoulte value */
if (so->angle_diff < 0.0f)
{
so->angle_diff = -so->angle_diff;
}
/* Accumulate angle only if sample is valid */
so->angle_acc += so->angle_diff;
/* Increase counter */
so->cntr += 1;
/* Accumulate angle until we get configured number of samples */
if (so->cntr >= so->samples)
{
/* Estimate omega using accumulated angle samples.
* In this case use simple estimation:
*
* omega = delta_theta/delta_time
* speed_now = low_pass(omega)
*
*/
omega = so->angle_acc*so->one_by_dt;
/* Store filtered omega.
*
* REVISIT: cut-off frequency for this filter should be
* (probably) set according to minimum supported omega:
*
* filter = T * (2*PI) * f_c = T * omega0
*
* where:
* omega0 - minimum angular speed
* T - speed estimation period (samples*one_by_dt)
*/
LP_FILTER(o->speed, omega, so->filter);
/* Reset samples counter and accumulated angle */
so->cntr = 0;
so->angle_acc = 0.0f;
}
/* Store current angle as previous angle */
so->angle_prev = angle;
}
/****************************************************************************
* Name: motor_observer_speed_get
*
* Description:
* Get the estmiated motor mechanical speed from the observer
*
* Input Parameters:
* o - (in/out) pointer to the common observer data
*
* Returned Value:
* Return estimated motor mechanical speed from observer
*
****************************************************************************/
float motor_observer_speed_get(FAR struct motor_observer_s *o)
{
DEBUGASSERT(o != NULL);
return o->speed;
}
/****************************************************************************
* Name: motor_observer_angle_get
*
* Description:
* Get the estmiated motor electrical angle from the observer
*
* Input Parameters:
* o - (in/out) pointer to the common observer data
*
* Returned Value:
* Return estimated motor mechanical angle from observer
*
****************************************************************************/
float motor_observer_angle_get(FAR struct motor_observer_s *o)
{
DEBUGASSERT(o != NULL);
return o->angle;
}