/**************************************************************************** * libs/libdsp/lib_pmsm_model.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. * ****************************************************************************/ /* Permanent magnet synchronous motor model (PMSM) * * 1) Flux equation: * * lambda_q = L_q * i_q * lambda_d = L_d * i_d + lampda_m * * 2) Voltage equation: * * a) D-part: * * id Rs Ld * o-->----/\/\/\/\----mmmmmm----+ * ^ | * . | * . .-----. * . | ^ | * vd . | | | * . .-----. * . | ed * . | * o-----------------------------+ * * ed = -we * lamda_q * ed = -we * (Lq * iq) * * vd = (Rs * id) + (d/dt * (Ld * id)) - (Lq * we * iq) * Ld * (d/dt * id) = vd - (Rs * id) + (we * Lq * iq) * (d/dt * id) = (vd - (Rs * id) + (we * Lq * iq)) / Ld * * b) Q-part: * * iq Rs Lq * o-->----/\/\/\/\----mmmmmm----+ * ^ | * . | * . .-----. * . | ^ | * vq . | | | * . .-----. * . | eq * . | * o-----------------------------+ * * eq = we * lamda_d * eq = we * (Lq * iq + lamda_m) * * vq = (Rs * iq) + (d/dt * (Lq * iq)) + (we * (Ld * id + lambda_m)) * Lq * (d/dt * iq) = vq - (Rs * iq) - (we * (Ld * id + lambda_m)) * (d/dt * iq) = (vq - (Rs * iq) - (we * (Ld * id + lambda_m))) / Lq * * 3) Torque equation: * * Te = (3/2) * p * (lambda_d * i_q - lambda_q * i_d) * Te = (3/2) * p * (lambda_m * i_q + (L_d - L_q) * i_q * i_d) * Te = (3/2) * p * i_q * (lambda_m + (L_d - L_q) * i_d) * * 4) Electromechanical power equation: * * Pem = wm * Te * Pem = (3/2) * wm * (lamda_d * i_q - lamda_q * i_d) * * 5) The general mechanical equation for the motor: * * Te = Tl + Td + B * wm + J * (d/dt) * wm * we = p * wm = (P/2) * wm * p = (P/2) * * assume no friction: * * Te = Tl + J * (d/dt) * wm * (d/dt) * wm = (Te - Tl) / J * * where: * B - viscous frictions coefficient * J - interia of the shaft and the load system * Td - dry friction * Tl - load torque * Te - electromagnetic torque * Pe - electromagnetical power * we - electrical velociti of the motor * wm - mechanical velocity of the rotor * lambda_m - flux linkage * P - Number of poles * p - pole pairs */ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: pmsm_model_initialize * * Description: * Initialzie FOC model * ****************************************************************************/ int pmsm_model_initialize(FAR struct pmsm_model_f32_s *model, FAR struct pmsm_phy_params_f32_s *phy, float per) { DEBUGASSERT(model); DEBUGASSERT(phy); DEBUGASSERT(per > 0.0f); /* Copy motor model parameters */ memcpy(&model->phy, phy, sizeof(struct pmsm_phy_params_f32_s)); /* Initialize controller period */ model->per = per; return OK; } /**************************************************************************** * Name: pmsm_model_elec * * Description: * Update motor model electrical state * ****************************************************************************/ int pmsm_model_elec(FAR struct pmsm_model_f32_s *model, FAR ab_frame_f32_t *vab) { float tmp1 = 0.0f; float tmp2 = 0.0f; float tmp3 = 0.0f; float tmp4 = 0.0f; float tmp5 = 0.0f; float tmp6 = 0.0f; DEBUGASSERT(model); DEBUGASSERT(vab); /* Copy alpha-beta voltage */ model->state.v_ab.a = vab->a; model->state.v_ab.b = vab->b; /* Inverse Clarke transform - get abc voltage */ inv_clarke_transform(&model->state.v_ab, &model->state.v_abc); /* Park transform - get DQ voltage */ park_transform(&model->state.angle.angle_el, &model->state.v_ab, &model->state.v_dq); /* q current */ tmp1 = model->phy.motor.res * model->state.i_dq.q; tmp2 = model->phy.ind_d * model->state.i_dq.d; tmp3 = tmp2 + model->phy.flux_link; tmp4 = model->state.omega_e * tmp3; tmp5 = model->state.v_dq.q - tmp1 - tmp4; tmp6 = model->per * tmp5; model->iq_int += (tmp6 * model->phy.one_by_indq); /* d current */ tmp1 = model->phy.motor.res * model->state.i_dq.d; tmp2 = model->phy.ind_q * model->state.i_dq.q; tmp3 = tmp2 * model->state.omega_e; tmp4 = model->state.v_dq.d - tmp1 + tmp3; tmp5 = model->per * tmp4; model->id_int += (tmp5 * model->phy.one_by_indd); /* Store currents */ model->state.i_dq.q = model->iq_int; model->state.i_dq.d = model->id_int; /* Inverse Park transform - get alpha-beta current */ inv_park_transform(&model->state.angle.angle_el, &model->state.i_dq, &model->state.i_ab); /* Inverse Clarke transform - get abc current */ inv_clarke_transform(&model->state.i_ab, &model->state.i_abc); return OK; } /**************************************************************************** * Name: pmsm_model_mech * * Description: * Update motor model mechanical state * ****************************************************************************/ int pmsm_model_mech(FAR struct pmsm_model_f32_s *model, float load) { float angle = 0.0f; float dir = 0.0f; float te = 0.0f; float tmp1 = 0.0f; float tmp2 = 0.0f; float tmp3 = 0.0f; float tmp4 = 0.0f; float tmp5 = 0.0f; DEBUGASSERT(model); /* Get electrical torque developed by the motor */ tmp1 = model->phy.ind_d - model->phy.ind_q; tmp2 = tmp1 * model->state.i_dq.d; tmp3 = model->phy.flux_link - tmp2; tmp4 = 1.5f * model->phy.motor.p; tmp5 = tmp4 * model->state.i_dq.q; te = tmp5 * tmp3; /* Get new mechanical velocity */ tmp1 = te - load; tmp2 = model->per * tmp1 ; tmp3 = tmp2 * model->phy.one_by_iner; model->state.omega_m = (model->state.omega_m + tmp3); /* Get new electrical velocity */ model->state.omega_e = model->state.omega_m * model->phy.motor.p; /* Get rotation direction */ dir = (model->state.omega_e > 0 ? DIR_CW : DIR_CCW); /* Update electrical angle */ tmp1 = model->state.omega_e * model->per; angle = model->state.angle.angle_el.angle + tmp1; /* Update with mechanical angel */ motor_angle_e_update(&model->state.angle, angle, dir); return OK; }