/****************************************************************************
* control/lib_motor.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 <dsp.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define POLE_CNTR_THR 0.0f
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: motor_openloop_init
*
* Description:
* Initialize open-loop data
*
* Input Parameters:
* op - (in/out) pointer to the openloop data structure
* max - (in) maximum openloop speed
* per - (in) period of the open-loop control
*
* Returned Value:
* None
*
****************************************************************************/
void motor_openloop_init(FAR struct openloop_data_s *op, float max, float per)
{
DEBUGASSERT(op != NULL);
DEBUGASSERT(max > 0.0f);
DEBUGASSERT(per > 0.0f);
/* Reset openloop structure */
memset(op, 0, sizeof(struct openloop_data_s));
/* Initialize data */
op->max = max;
op->per = per;
}
/****************************************************************************
* Name: motor_openloop
*
* Description:
* One step of the open-loop control
*
* Input Parameters:
* op - (in/out) pointer to the open-loop data structure
* speed - (in) open-loop speed
* dir - (in) rotation direction
*
* Returned Value:
* None
*
****************************************************************************/
void motor_openloop(FAR struct openloop_data_s *op, float speed, float dir)
{
DEBUGASSERT(op != NULL);
DEBUGASSERT(speed >= 0.0f);
DEBUGASSERT(dir == DIR_CW || dir == DIR_CCW);
float phase_step = 0.0f;
/* REVISIT: what should we do if speed is greater than max open-loop speed?
* Saturate speed or stop motor ?
*/
if (speed > op->max)
{
speed = op->max;
}
/* Get phase step */
phase_step = dir * speed * op->per;
/* Update open-loop angle */
op->angle += phase_step;
/* Normalize the open-loop angle to 0.0 - 2PI range */
angle_norm_2pi(&op->angle, MOTOR_ANGLE_E_MIN, MOTOR_ANGLE_E_MAX);
}
/****************************************************************************
* Name: motor_openloop_angle_get
*
* Description:
* Get angle from open-loop controller
*
* Input Parameters:
* op - (in/out) pointer to the open-loop data structure
*
* Returned Value:
* Return angle from open-loop controller
*
****************************************************************************/
float motor_openloop_angle_get(FAR struct openloop_data_s *op)
{
DEBUGASSERT(op != NULL);
return op->angle;
}
/* In a multipolar electrical machines, mechanical angle is not equal
* to mechanical angle which can be described as:
*
* electrical angle = (p) * mechanical angle
* where p - number of poles pair
*
*
* electrical
* angle:
*
* poles = 4
* i = 0 1 2 3 0 1 2 3 0
* 2PI ______________________________________________
* /| /| /| /| /| /| /| /| /|
* / | / | / | / | / | / | / | / | / |
* / | / | / | / | / | / | / | / | / |
* 0 /___|/___|/___|/___|/___|/___|/___|/___|/___|/
* . . .
* mechanical . . .
* angle: . . .
* . . .
* 2PI .__________________.___________________.______
* . o o
* . o o o o
* . o o o o
* . o o o o o
* 0 o__________________o___________________o______
*
*/
/****************************************************************************
* Name: motor_angle_init
*
* Description:
* Initialize motor angle structure
*
* Input Parameters:
* angle - (in/out) pointer to the motor angle strucutre
* p - (in) number of the motor pole pairs
*
* Returned Value:
* None
*
****************************************************************************/
void motor_angle_init(FAR struct motor_angle_s *angle, uint8_t p)
{
DEBUGASSERT(angle != NULL);
DEBUGASSERT(p > 0);
/* Reset structure */
memset(angle, 0, sizeof(struct motor_angle_s));
/* Store pole pairs */
angle->p = p;
angle->one_by_p = (float)1.0f/p;
/* Initialize angle with 0.0 */
phase_angle_update(&angle->angle_el, 0.0f);
}
/****************************************************************************
* Name: motor_angle_e_update
*
* Description:
* Update motor angle structure using electrical motor angle.
*
* Input Parameters:
* angle - (in/out) pointer to the motor angle structure
* angle_new - (in) new motor electrical angle in range <0.0, 2PI>
*
* Returned Value:
* None
*
****************************************************************************/
void motor_angle_e_update(FAR struct motor_angle_s *angle, float angle_new, float dir)
{
DEBUGASSERT(angle != NULL);
DEBUGASSERT(angle_new >= 0.0f && angle_new <= MOTOR_ANGLE_E_MAX);
DEBUGASSERT(dir == DIR_CW || dir == DIR_CCW);
/* Check if we crossed electrical angle boundaries */
if (dir == DIR_CW &&
angle_new - angle->angle_el.angle < -POLE_CNTR_THR)
{
/* For CW direction - previous angle is greater than current angle */
angle->i += 1;
}
else if (dir == DIR_CCW &&
angle_new - angle->angle_el.angle > POLE_CNTR_THR)
{
/* For CCW direction - previous angle is lower than current angle */
angle->i -= 1;
}
/* Reset pole counter if needed */
if (angle->i >= angle->p)
{
angle->i = 0;
}
else if (angle->i < 0)
{
angle->i = angle->p-1;
}
/* Update electrical angle structure */
phase_angle_update(&angle->angle_el, angle_new);
/* Calculate mechanical angle.
* One electrical angle rotation is equal to one mechanical rotation divided
* by number of motor pole pairs.
*/
angle->anglem = (MOTOR_ANGLE_E_RANGE * angle->i +
angle->angle_el.angle) * angle->one_by_p;
/* Normalize mechanical angle to <0, 2PI> and store */
angle_norm_2pi(&angle->anglem, MOTOR_ANGLE_M_MIN, MOTOR_ANGLE_M_MAX);
}
/****************************************************************************
* Name: motor_angle_m_update
*
* Description:
* Update motor angle structure using mechanical motor angle
*
* Input Parameters:
* angle - (in/out) pointer to the motor angle structure
* angle_new - (in) new motor mechanical angle in range <0.0, 2PI>
*
* Returned Value:
* None
*
****************************************************************************/
void motor_angle_m_update(FAR struct motor_angle_s *angle, float angle_new, float dir)
{
DEBUGASSERT(angle != NULL);
DEBUGASSERT(angle_new >= 0.0f && angle_new <= MOTOR_ANGLE_E_MAX);
DEBUGASSERT(dir == DIR_CW || dir == DIR_CCW);
float angle_el = 0.0f;
/* Store new mechanical angle */
angle->anglem = angle_new;
/* Update pole counter */
angle->i = (uint8_t)(angle->anglem * angle->p/MOTOR_ANGLE_M_MAX);
/* Get electrical angle */
angle_el = angle->anglem * angle->p - MOTOR_ANGLE_E_MAX * angle->i;
/* Update electrical angle structure */
phase_angle_update(&angle->angle_el, angle_el);
}
/****************************************************************************
* Name: motor_angle_m_get
*
* Description:
* Get motor mechanical angle
*
* Input Parameters:
* angle - (in/out) pointer to the motor angle structure
*
* Returned Value:
* Return motor mechanical angle
*
****************************************************************************/
float motor_angle_m_get(FAR struct motor_angle_s *angle)
{
DEBUGASSERT(angle != NULL);
return angle->anglem;
}
/****************************************************************************
* Name: motor_angle_e_get
*
* Description:
* Get motor electrical angle
*
* Input Parameters:
* angle - (in/out) pointer to the motor angle structure
*
* Returned Value:
* Return motor electrical angle
*
****************************************************************************/
float motor_angle_e_get(FAR struct motor_angle_s *angle)
{
DEBUGASSERT(angle != NULL);
return angle->angle_el.angle;
}
/****************************************************************************
* Name: motor_phy_params_init
*
* Description:
* Initialize motor physical parameters
*
* Input Parameters:
* phy - (in/out) pointer to the motor physical parameters
* poles - (in) number of the motor pole pairs
* res - (in) average phase-to-neutral base motor resistance
* (without temperature compensation)
* ind - (in) average phase-to-neutral motor inductance
*
* Returned Value:
* None
*
****************************************************************************/
void motor_phy_params_init(FAR struct motor_phy_params_s *phy, uint8_t poles,
float res, float ind)
{
DEBUGASSERT(phy != NULL);
phy->p = poles;
phy->res_base = res;
phy->ind = ind;
phy->one_by_ind = 1.0f/ind;
/* Initialize with zeros */
phy->res = 0.0f;
phy->res_alpha = 0.0f;
phy->res_temp_ref = 0.0f;
}
/****************************************************************************
* Name: motor_phy_params_temp_set
* Description:
* Initialize motor physical temperature parameters
*
* Input Parameters:
* phy - (in/out) pointer to the motor physical parameters
* res_alpha - (in) temperature coefficient of the winding resistance
* res_temp_ref - (in) reference temperature for alpha
*
* Returned Value:
* None
*
****************************************************************************/
void motor_phy_params_temp_set(FAR struct motor_phy_params_s *phy,
float res_alpha, float res_temp_ref)
{
DEBUGASSERT(phy != NULL);
phy->res_alpha = res_alpha;
phy->res_temp_ref = res_temp_ref;
}