/****************************************************************************
* control/lib_foc.c
*
* Copyright (C) 2018 Gregory Nutt. All rights reserved.
* Author: Mateusz Szafoni <raiden00@railab.me>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <string.h>
#include <stdbool.h>
#include <dsp.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: foc_current_control
*
* Description:
* This function implements FOC current control algorithm.
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
*
* Returned Value:
* None
*
****************************************************************************/
static void foc_current_control(FAR struct foc_data_s *foc)
{
FAR pid_controller_t *id_pid = &foc->id_pid;
FAR pid_controller_t *iq_pid = &foc->iq_pid;
FAR dq_frame_t *v_dq = &foc->v_dq;
/* 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->d = pi_controller(id_pid, foc->i_dq_err.d);
/* PI controller for q-current (torque loop) */
v_dq->q = pi_controller(iq_pid, foc->i_dq_err.q);
/* Saturate voltage DQ vector.
* The maximum DQ voltage magnitude depends on the maximum possible
* phase voltage and the maximum supported duty cycle.
*/
dq_saturate(v_dq, foc->vdq_mag_max);
}
/****************************************************************************
* 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_s *foc, float scale)
{
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_s *foc, float max)
{
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);
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_init
*
* Description:
* Initialize FOC controller
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* id_kp - (in) KP for d current
* id_ki - (in) KI for d current
* iq_kp - (in) KP for q current
* iq_ki - (in) KI for q current
*
* Returned Value:
* None
*
****************************************************************************/
void foc_init(FAR struct foc_data_s *foc,
float id_kp, float id_ki, float iq_kp, float iq_ki)
{
/* Reset data */
memset(foc, 0, sizeof(struct foc_data_s));
/* Initialize PI current d component */
pi_controller_init(&foc->id_pid, id_kp, id_ki);
/* Initialize PI current q component */
pi_controller_init(&foc->iq_pid, iq_kp, iq_ki);
}
/****************************************************************************
* Name: foc_idq_ref_set
*
* Description:
* Set dq reference current vector
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* d - (in) reference d current
* q - (in) reference q current
*
* Returned Value:
* None
*
****************************************************************************/
void foc_idq_ref_set(FAR struct foc_data_s *foc, float d, float q)
{
foc->i_dq_ref.d = d;
foc->i_dq_ref.q = q;
}
/****************************************************************************
* 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_s *foc, float vbase)
{
float scale = 0.0f;
float mag_max = 0.0f;
/* Only if voltage is valid */
if (vbase >= 0.0f)
{
scale = 1.0f/vbase;
mag_max = vbase;
}
foc_vab_mod_scale_set(foc, scale);
foc_vdq_mag_max_set(foc, mag_max);
}
/****************************************************************************
* Name: foc_process
*
* Description:
* Process FOC (Field Oriented Control)
*
* Input Parameters:
* foc - (in/out) pointer to the FOC data
* i_abc - (in) pointer to the ABC current frame
* angle - (in) pointer to the phase angle data
*
* Returned Value:
* None
*
* TODO: add some reference and a brief description of the FOC
*
****************************************************************************/
void foc_process(FAR struct foc_data_s *foc,
FAR abc_frame_t *i_abc,
FAR phase_angle_t *angle)
{
DEBUGASSERT(foc != NULL);
DEBUGASSERT(i_abc != NULL);
DEBUGASSERT(angle != NULL);
/* 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(angle, &foc->i_ab, &foc->i_dq);
/* Run FOC current control (current dq -> voltage dq) */
foc_current_control(foc);
/* Inverse Park transform (voltage dq -> voltage alpha-beta) */
inv_park_transform(angle, &foc->v_dq, &foc->v_ab);
/* 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;
}