605 lines
21 KiB
C
605 lines
21 KiB
C
/****************************************************************************
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* include/dspb16.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_DSPB16_H
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#define __INCLUDE_DSPB16_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/compiler.h>
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <fixedmath.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Disable DEBUGASSERT macro if LIBDSP debug is not enabled */
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#ifdef CONFIG_LIBDSP_DEBUG
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# ifndef CONFIG_DEBUG_ASSERTIONS
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# warning "Need CONFIG_DEBUG_ASSERTIONS to work properly"
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# endif
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# define LIBDSP_DEBUGASSERT(x) DEBUGASSERT(x)
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#else
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# undef LIBDSP_DEBUGASSERT
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# define LIBDSP_DEBUGASSERT(x)
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#endif
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#ifndef CONFIG_LIBDSP_PRECISION
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# define CONFIG_LIBDSP_PRECISION 0
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#endif
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/* Phase rotation direction */
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#define DIR_NONE_B16 ftob16(0.0f)
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#define DIR_CW_B16 ftob16(1.0f)
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#define DIR_CCW_B16 ftob16(-1.0f)
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/* Some math constants ******************************************************/
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#define SQRT3_BY_TWO_B16 ftob16(0.866025f)
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#define SQRT3_BY_THREE_B16 ftob16(0.57735f)
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#define ONE_BY_SQRT3_B16 ftob16(0.57735f)
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#define TWO_BY_SQRT3_B16 ftob16(1.15470f)
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/* Some lib constants *******************************************************/
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/* Motor electrical angle is in range 0.0 to 2*PI */
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#define MOTOR_ANGLE_E_MAX_B16 (b16TWOPI)
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#define MOTOR_ANGLE_E_MIN_B16 (0)
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#define MOTOR_ANGLE_E_RANGE_B16 (MOTOR_ANGLE_E_MAX_B16 - MOTOR_ANGLE_E_MIN_B16)
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/* Motor mechanical angle is in range 0.0 to 2*PI */
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#define MOTOR_ANGLE_M_MAX_B16 (b16TWOPI)
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#define MOTOR_ANGLE_M_MIN_B16 (0)
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#define MOTOR_ANGLE_M_RANGE_B16 (MOTOR_ANGLE_M_MAX_B16 - MOTOR_ANGLE_M_MIN_B16)
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/* Some useful macros *******************************************************/
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/****************************************************************************
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* Name: LP_FILTER_B16
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*
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* Description:
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* Simple single-pole digital low pass filter:
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* Y(n) = (1-beta)*Y(n-1) + beta*X(n) = (beta * (Y(n-1) - X(n)))
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*
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* filter - (0.0 - 1.0) where 1.0 gives unfiltered values
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* filter = T * (2*PI) * f_c
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*
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* phase shift = -arctan(f_in/f_c)
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*
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* T - period at which the digital filter is being calculated
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* f_in - input frequency of the filter
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* f_c - cutoff frequency of the filter
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*
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* REFERENCE: https://www.embeddedrelated.com/showarticle/779.php
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*
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****************************************************************************/
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#define LP_FILTER_B16(val, sample, filter) val -= (b16mulb16(filter, (val - sample)))
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/****************************************************************************
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* Name: SVM3_BASE_VOLTAGE_GET_B16
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*
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* Description:
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* Get maximum voltage for SVM3 without overmodulation
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*
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* Notes:
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* max possible phase voltage for 3-phase power inverter:
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* Vd = (2/3)*Vdc
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* max phase reference voltage according to SVM modulation diagram:
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* Vrefmax = Vd * cos(30*) = SQRT3_BY_2 * Vd
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* which give us:
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* Vrefmax = SQRT3_BY_3 * Vdc
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*
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* Vdc - bus voltage
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*
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****************************************************************************/
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#define SVM3_BASE_VOLTAGE_GET_B16(vbus) (b16mulb16(vbus, SQRT3_BY_THREE_B16))
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* This structure represents phase angle.
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* Besides angle value it also stores sine and cosine values for given angle.
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*/
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struct phase_angle_b16_s
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{
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b16_t angle; /* Phase angle in radians <0, 2PI> */
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b16_t sin; /* Phase angle sine */
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b16_t cos; /* Phase angle cosine */
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};
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typedef struct phase_angle_b16_s phase_angle_b16_t;
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/* This structure stores motor angles and corresponding sin and cos values
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*
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* th_el = th_m * pole_pairs
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* th_m = th_el/pole_pairs
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*
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* where:
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* th_el - motor electrical angle
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* th_m - motor mechanical angle
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* pole_pairs - motor pole pairs
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*
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* NOTE: pole_pairs = poles_total/2
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*/
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struct motor_angle_b16_s
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{
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phase_angle_b16_t angle_el; /* Electrical angle */
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b16_t anglem; /* Mechanical angle in radians <0, 2PI> */
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b16_t one_by_p; /* Aux variable */
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uint8_t p; /* Number of the motor pole pairs */
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int8_t i; /* Pole counter */
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};
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/* Float number saturaton */
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struct float_sat_b16_s
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{
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b16_t min; /* Lower limit */
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b16_t max; /* Upper limit */
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};
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typedef struct float_sat_b16_s float_sat_b16_t;
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/* PI/PID controller state structure */
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struct pid_controller_b16_s
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{
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bool aw_en; /* Integral part decay if saturated */
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bool ireset_en; /* Intergral part reset if saturated */
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bool pisat_en; /* PI saturation enabled */
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bool pidsat_en; /* PID saturation enabled */
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bool _res; /* Reserved */
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b16_t out; /* Controller output */
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float_sat_b16_t sat; /* Output saturation */
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b16_t err; /* Current error value */
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b16_t err_prev; /* Previous error value */
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b16_t KP; /* Proportional coefficient */
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b16_t KI; /* Integral coefficient */
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b16_t KD; /* Derivative coefficient */
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b16_t part[3]; /* 0 - proporitonal part
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* 1 - integral part
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* 2 - derivative part
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*/
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b16_t KC; /* Integral anti-windup decay coefficient */
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b16_t aw; /* Integral anti-windup decay part */
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};
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typedef struct pid_controller_b16_s pid_controller_b16_t;
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/* This structure represents the ABC frame (3 phase vector) */
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struct abc_frame_b16_s
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{
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b16_t a; /* A component */
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b16_t b; /* B component */
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b16_t c; /* C component */
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};
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typedef struct abc_frame_b16_s abc_frame_b16_t;
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/* This structure represents the alpha-beta frame (2 phase vector) */
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struct ab_frame_b16_s
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{
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b16_t a; /* Alpha component */
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b16_t b; /* Beta component */
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};
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typedef struct ab_frame_b16_s ab_frame_b16_t;
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/* This structure represent the direct-quadrature frame */
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struct dq_frame_b16_s
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{
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b16_t d; /* Driect component */
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b16_t q; /* Quadrature component */
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};
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typedef struct dq_frame_b16_s dq_frame_b16_t;
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/* Space Vector Modulation data for 3-phase system */
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struct svm3_state_b16_s
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{
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uint8_t sector; /* Current space vector sector */
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b16_t d_u; /* Duty cycle for phase U */
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b16_t d_v; /* Duty cycle for phase V */
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b16_t d_w; /* Duty cycle for phase W */
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};
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/* Motor open-loop control data */
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struct openloop_data_b16_s
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{
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b16_t angle; /* Open-loop current angle normalized to <0.0, 2PI> */
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b16_t per; /* Open-loop control execution period */
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};
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/* Common motor speed observer structure */
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struct motor_sobserver_b16_s
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{
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b16_t speed; /* Estimated observer speed */
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b16_t per; /* Observer execution period */
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/* There are different types of motor observers which different
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* sets of private data.
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*/
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void *so; /* Speed estimation observer data */
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};
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/* Common motor angle observer structure */
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struct motor_aobserver_b16_s
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{
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b16_t angle; /* Estimated observer angle */
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b16_t per; /* Observer execution period */
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/* There are different types of motor observers which different
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* sets of private data.
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*/
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void *ao; /* Angle estimation observer data */
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};
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/* Speed observer division method data */
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struct motor_sobserver_div_b16_s
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{
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b16_t angle_diff; /* Angle difference */
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b16_t angle_acc; /* Accumulated angle */
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b16_t angle_prev; /* Previous angle */
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b16_t one_by_dt; /* Frequency of observer execution */
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b16_t cntr; /* Sample counter */
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b16_t samples; /* Number of samples for observer */
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b16_t filter; /* Low-pass filter for final omega */
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};
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/* Speed observer PLL method data */
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struct motor_sobserver_pll_b16_s
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{
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b16_t pll_phase;
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b16_t pll_kp;
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b16_t pll_ki;
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};
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/* Motor Sliding Mode Observer private data */
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struct motor_aobserver_smo_b16_s
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{
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b16_t k_slide; /* Bang-bang controller gain */
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b16_t err_max; /* Linear mode threshold */
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b16_t one_by_err_max; /* One by err_max */
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b16_t F; /* Current observer F gain (1-Ts*R/L) */
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b16_t G; /* Current observer G gain (Ts/L) */
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b16_t emf_lp_filter1; /* Adaptive first low pass EMF filter */
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b16_t emf_lp_filter2; /* Adaptive second low pass EMF filter */
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ab_frame_b16_t emf; /* Estimated back-EMF */
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ab_frame_b16_t emf_f; /* Fitlered estimated back-EMF */
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ab_frame_b16_t z; /* Correction factor */
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ab_frame_b16_t i_est; /* Estimated idq current */
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ab_frame_b16_t v_err; /* v_err = v_ab - emf */
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ab_frame_b16_t i_err; /* i_err = i_est - i_dq */
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ab_frame_b16_t sign; /* Bang-bang controller sign */
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};
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/* Motor Nonlinear FluxLink Observer private data */
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struct motor_aobserver_nfo_b16_s
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{
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b16_t x1;
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b16_t x2;
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};
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/* FOC initialize data */
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struct foc_initdata_b16_s
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{
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b16_t id_kp; /* KP for d current */
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b16_t id_ki; /* KI for d current */
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b16_t iq_kp; /* KP for q current */
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b16_t iq_ki; /* KI for q current */
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};
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/* Field Oriented Control (FOC) data */
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struct foc_data_b16_s
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{
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abc_frame_b16_t v_abc; /* Voltage in ABC frame */
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ab_frame_b16_t v_ab; /* Voltage in alpha-beta frame */
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dq_frame_b16_t v_dq; /* Requested voltage in dq frame */
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ab_frame_b16_t v_ab_mod; /* Modulation voltage normalized to
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* magnitude (0.0, 1.0)
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*/
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abc_frame_b16_t i_abc; /* Current in ABC frame */
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ab_frame_b16_t i_ab; /* Current in alpha-beta frame */
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dq_frame_b16_t i_dq; /* Current in dq frame */
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dq_frame_b16_t i_dq_err; /* DQ current error */
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dq_frame_b16_t i_dq_ref; /* Requested current for the FOC
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* current controller
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*/
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pid_controller_b16_t id_pid; /* Current d-axis component PI controller */
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pid_controller_b16_t iq_pid; /* Current q-axis component PI controller */
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b16_t vdq_mag_max; /* Maximum dq voltage magnitude */
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b16_t vab_mod_scale; /* Voltage alpha-beta modulation scale */
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phase_angle_b16_t angle; /* Phase angle */
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};
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/* Motor physical parameters.
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* This data structure was designed to work with BLDC/PMSM motors,
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* but probably can be used to describe different types of motors.
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*/
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struct motor_phy_params_b16_s
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{
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uint8_t p; /* Number of the motor pole pairs */
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b16_t flux_link; /* Flux linkage */
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b16_t res; /* Average phase-to-neutral resistance */
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b16_t ind; /* Average phase-to-neutral inductance */
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b16_t one_by_ind; /* Inverse phase-to-neutral inductance */
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b16_t one_by_p; /* Inverse number of motor pole pairs */
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};
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/* PMSM motor physcial parameters */
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struct pmsm_phy_params_b16_s
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{
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struct motor_phy_params_b16_s motor; /* Motor common PHY */
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b16_t iner; /* Rotor inertia */
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b16_t ind_d; /* d-inductance */
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b16_t ind_q; /* q-inductance */
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b16_t one_by_iner; /* One by J */
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b16_t one_by_indd; /* One by Ld */
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b16_t one_by_indq; /* One by Lq */
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};
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/* PMSM motor model state */
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struct pmsm_model_state_b16_s
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{
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/* Motor model phase current */
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abc_frame_b16_t i_abc;
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ab_frame_b16_t i_ab;
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dq_frame_b16_t i_dq;
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/* Motor model phase voltage */
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abc_frame_b16_t v_abc;
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ab_frame_b16_t v_ab;
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dq_frame_b16_t v_dq;
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/* Motor model angle */
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struct motor_angle_b16_s angle;
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/* Angular speed */
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b16_t omega_e;
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b16_t omega_m;
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};
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/* PMSM motor model external conditions */
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struct pmsm_model_ext_b16_s
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{
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b16_t load; /* Motor model load torque */
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};
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/* PMSM motor model */
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struct pmsm_model_b16_s
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{
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struct pmsm_phy_params_b16_s phy; /* Motor model physical parameters */
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struct pmsm_model_state_b16_s state; /* Motor model state */
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struct pmsm_model_ext_b16_s ext; /* Motor model external conditions */
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b16_t per; /* Control period */
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b16_t id_int; /* Id integral part */
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b16_t iq_int; /* Iq integral part */
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};
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/****************************************************************************
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* Public Functions Prototypes
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****************************************************************************/
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/* Math functions */
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b16_t fast_sin_b16(b16_t angle);
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b16_t fast_sin2_b16(b16_t angle);
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b16_t fast_cos_b16(b16_t angle);
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b16_t fast_cos2_b16(b16_t angle);
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b16_t fast_atan2_b16(b16_t y, b16_t x);
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void f_saturate_b16(FAR b16_t *val, b16_t min, b16_t max);
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b16_t vector2d_mag_b16(b16_t x, b16_t y);
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void vector2d_saturate_b16(FAR b16_t *x, FAR b16_t *y, b16_t max);
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void dq_saturate_b16(FAR dq_frame_b16_t *dq, b16_t max);
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b16_t dq_mag_b16(FAR dq_frame_b16_t *dq);
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/* PID controller functions */
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void pid_controller_init_b16(FAR pid_controller_b16_t *pid,
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b16_t KP, b16_t KI, b16_t KD);
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void pi_controller_init_b16(FAR pid_controller_b16_t *pid,
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b16_t KP, b16_t KI);
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void pid_saturation_set_b16(FAR pid_controller_b16_t *pid, b16_t min,
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b16_t max);
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void pi_saturation_set_b16(FAR pid_controller_b16_t *pid, b16_t min,
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b16_t max);
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void pid_integral_reset_b16(FAR pid_controller_b16_t *pid);
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void pi_integral_reset_b16(FAR pid_controller_b16_t *pid);
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b16_t pi_controller_b16(FAR pid_controller_b16_t *pid, b16_t err);
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b16_t pid_controller_b16(FAR pid_controller_b16_t *pid, b16_t err);
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void pi_antiwindup_enable_b16(FAR pid_controller_b16_t *pid, b16_t KC,
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bool enable);
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void pi_ireset_enable_b16(FAR pid_controller_b16_t *pid, bool enable);
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/* Transformation functions */
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void clarke_transform_b16(FAR abc_frame_b16_t *abc, FAR ab_frame_b16_t *ab);
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void inv_clarke_transform_b16(FAR ab_frame_b16_t *ab,
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FAR abc_frame_b16_t *abc);
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void park_transform_b16(FAR phase_angle_b16_t *angle, FAR ab_frame_b16_t *ab,
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FAR dq_frame_b16_t *dq);
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void inv_park_transform_b16(FAR phase_angle_b16_t *angle,
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FAR dq_frame_b16_t *dq, FAR ab_frame_b16_t *ab);
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/* Phase angle related functions */
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void angle_norm_b16(FAR b16_t *angle, b16_t per, b16_t bottom, b16_t top);
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void angle_norm_2pi_b16(FAR b16_t *angle, b16_t bottom, b16_t top);
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void phase_angle_update_b16(FAR struct phase_angle_b16_s *angle, b16_t val);
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/* 3-phase system space vector modulation */
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void svm3_init_b16(FAR struct svm3_state_b16_s *s);
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void svm3_b16(FAR struct svm3_state_b16_s *s, FAR ab_frame_b16_t *ab);
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void svm3_current_correct_b16(FAR struct svm3_state_b16_s *s,
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b16_t *c0, b16_t *c1, b16_t *c2);
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/* Field Oriented Control */
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void foc_init_b16(FAR struct foc_data_b16_s *foc,
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FAR struct foc_initdata_b16_s *init);
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void foc_vbase_update_b16(FAR struct foc_data_b16_s *foc, b16_t vbase);
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void foc_angle_update_b16(FAR struct foc_data_b16_s *foc,
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FAR phase_angle_b16_t *angle);
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void foc_iabc_update_b16(FAR struct foc_data_b16_s *foc,
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FAR abc_frame_b16_t *i_abc);
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void foc_voltage_control_b16(FAR struct foc_data_b16_s *foc,
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FAR dq_frame_b16_t *vdq_ref);
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void foc_current_control_b16(FAR struct foc_data_b16_s *foc,
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FAR dq_frame_b16_t *idq_ref,
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FAR dq_frame_b16_t *vdq_comp,
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FAR dq_frame_b16_t *v_dq_ref);
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void foc_vabmod_get_b16(FAR struct foc_data_b16_s *foc,
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FAR ab_frame_b16_t *v_ab_mod);
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void foc_vdq_mag_max_get_b16(FAR struct foc_data_b16_s *foc, FAR b16_t *max);
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/* BLDC/PMSM motor observers */
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void motor_sobserver_init_b16(FAR struct motor_sobserver_b16_s *observer,
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FAR void *so, b16_t per);
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void motor_aobserver_init_b16(FAR struct motor_aobserver_b16_s *observer,
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FAR void *ao, b16_t per);
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b16_t motor_sobserver_speed_get_b16(FAR struct motor_sobserver_b16_s *o);
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b16_t motor_aobserver_angle_get_b16(FAR struct motor_aobserver_b16_s *o);
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void motor_aobserver_smo_init_b16(FAR struct motor_aobserver_smo_b16_s *smo,
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b16_t kslide, b16_t err_max);
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void motor_aobserver_smo_b16(FAR struct motor_aobserver_b16_s *o,
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FAR ab_frame_b16_t *i_ab,
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FAR ab_frame_b16_t *v_ab,
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FAR struct motor_phy_params_b16_s *phy,
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b16_t dir, b16_t speed);
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void motor_sobserver_div_init_b16(FAR struct motor_sobserver_div_b16_s *so,
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uint8_t samples, b16_t filer, b16_t per);
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void motor_sobserver_div_b16(FAR struct motor_sobserver_b16_s *o,
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b16_t angle);
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void motor_aobserver_nfo_init_b16(FAR struct motor_aobserver_nfo_b16_s *nfo);
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void motor_aobserver_nfo_b16(FAR struct motor_aobserver_b16_s *o,
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FAR ab_frame_b16_t *i_ab,
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FAR ab_frame_b16_t *v_ab,
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FAR struct motor_phy_params_b16_s *phy,
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b16_t gain);
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void motor_sobserver_pll_init_b16(FAR struct motor_sobserver_pll_b16_s *so,
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b16_t pll_kp, b16_t pll_ki);
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void motor_sobserver_pll_b16(FAR struct motor_sobserver_b16_s *o,
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b16_t angle);
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/* Motor openloop control */
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void motor_openloop_init_b16(FAR struct openloop_data_b16_s *op, b16_t per);
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void motor_openloop_b16(FAR struct openloop_data_b16_s *op, b16_t speed,
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b16_t dir);
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b16_t motor_openloop_angle_get_b16(FAR struct openloop_data_b16_s *op);
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/* Motor angle */
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void motor_angle_init_b16(FAR struct motor_angle_b16_s *angle, uint8_t p);
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void motor_angle_e_update_b16(FAR struct motor_angle_b16_s *angle,
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b16_t angle_new, b16_t dir);
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void motor_angle_m_update_b16(FAR struct motor_angle_b16_s *angle,
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b16_t angle_new, b16_t dir);
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b16_t motor_angle_m_get_b16(FAR struct motor_angle_b16_s *angle);
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b16_t motor_angle_e_get_b16(FAR struct motor_angle_b16_s *angle);
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/* Motor physical parameters */
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void motor_phy_params_init_b16(FAR struct motor_phy_params_b16_s *phy,
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uint8_t poles, b16_t res, b16_t ind,
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b16_t fluxlink);
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/* PMSM physical parameters functions */
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void pmsm_phy_params_init_b16(FAR struct pmsm_phy_params_b16_s *phy,
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uint8_t poles, b16_t res, b16_t ind,
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b16_t iner, b16_t flux,
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b16_t ind_d, b16_t ind_q);
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/* PMSM motor model */
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int pmsm_model_initialize_b16(FAR struct pmsm_model_b16_s *model,
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FAR struct pmsm_phy_params_b16_s *phy,
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b16_t per);
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int pmsm_model_elec_b16(FAR struct pmsm_model_b16_s *model,
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FAR ab_frame_b16_t *vab);
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int pmsm_model_mech_b16(FAR struct pmsm_model_b16_s *model, b16_t load);
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __INCLUDE_DSPB16_H */
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