b5ec5349b0
libdsp: initial commit * libdsp: initial commit * libdsp: cosmetics Approved-by: Gregory Nutt <gnutt@nuttx.org>
101 lines
3.9 KiB
C
101 lines
3.9 KiB
C
/****************************************************************************
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* control/lib_foc.c
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*
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* Copyright (C) 2018 Gregory Nutt. All rights reserved.
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* Author: Mateusz Szafoni <raiden00@railab.me>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <dsp.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_current_control
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*
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* Description:
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* This function implements FOC current control algorithm.
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*
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* Input Parameters:
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* id_pid - (in) pointer to the direct current PI controller data
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* iq_pid - (in) pointer to the quadrature current PI controller data
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* idq_ref - (in) dq current reference
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* i_dq - (in) dq current
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* vdq_min - (in) lower regulator limit
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* vdq_max - (in) upper regulator limit
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* v_dq - (out) pointer to the dq voltage frame
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void foc_current_control(FAR pid_controller_t *id_pid,
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FAR pid_controller_t *iq_pid,
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FAR dq_frame_t *idq_ref,
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FAR dq_frame_t *idq,
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FAR float_sat_t *sat,
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FAR dq_frame_t *v_dq)
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{
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dq_frame_t idq_err;
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/* Get dq current error */
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idq_err.d = idq_ref->d - idq->d;
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idq_err.q = idq_ref->q - idq->q;
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/* Update regulators saturation */
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pi_saturation_set(id_pid, sat->min, sat->max);
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pi_saturation_set(iq_pid, sat->min, sat->max);
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/* PI controller for d-current (flux loop) */
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v_dq->d = pi_controller(id_pid, idq_err.d);
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/* PI controller for q-current (torque loop) */
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v_dq->q = pi_controller(iq_pid, idq_err.q);
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}
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