8416d9a966
Master
* libdsp: initial commit
* libdsp: cosmetics
* stm32f334-disco/buckboost: use a PID controller from libdsp
* stm32_adc.h: fix typo
* stm32_dac.c: set OUTEN bit for DAC1CH2 and DAC2CH1
* stm32_hrtim: cosmetic changes
* power/motor: direction parameter is now int8 + add overload fault
* libdsp: all floats with f-sufix
libdsp: add precision option for library
libdsp: add debug option for library and assertions in functions
libdsp: add current samples correction for SVM3
libds: add some motor control specific functions
libdsp: add basic speed observer
libdsp: fix phase shift in SMO observer
libdsp: add more logic to FOC
config/sim/dsptest: add dsptest configuration
* libdsp/lib_motor.c: remove unused comparation
* libdsp/lib_observer.c: update some comments
Approved-by: GregoryN <gnutt@nuttx.org>
285 lines
8.3 KiB
C
285 lines
8.3 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 <string.h>
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#include <stdbool.h>
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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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* 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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* foc - (in/out) pointer to the FOC data
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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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static void foc_current_control(FAR struct foc_data_s *foc)
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{
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FAR pid_controller_t *id_pid = &foc->id_pid;
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FAR pid_controller_t *iq_pid = &foc->iq_pid;
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FAR dq_frame_t *v_dq = &foc->v_dq;
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/* Get dq current error */
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foc->i_dq_err.d = foc->i_dq_ref.d - foc->i_dq.d;
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foc->i_dq_err.q = foc->i_dq_ref.q - foc->i_dq.q;
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/* NOTE: PI controllers saturation is updated in foc_vdq_mag_max_set() */
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/* PI controller for d-current (flux loop) */
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v_dq->d = pi_controller(id_pid, foc->i_dq_err.d);
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/* PI controller for q-current (torque loop) */
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v_dq->q = pi_controller(iq_pid, foc->i_dq_err.q);
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/* Saturate voltage DQ vector.
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* The maximum DQ voltage magnitude depends on the maximum possible
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* phase voltage and the maximum supported duty cycle.
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*/
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dq_saturate(v_dq, foc->vdq_mag_max);
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}
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/****************************************************************************
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* Name: foc_vab_mod_scale_set
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*
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* Description:
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*
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* Input Parameters:
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* foc - (in/out) pointer to the FOC data
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* scale - (in) scaling factor for alpha-beta voltage
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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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static void foc_vab_mod_scale_set(FAR struct foc_data_s *foc, float scale)
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{
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foc->vab_mod_scale = scale;
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}
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/****************************************************************************
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* Name: foc_vdq_mag_max_set
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*
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* Description:
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* Set maximum dq voltage vector magnitude
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*
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* Input Parameters:
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* foc - (in/out) pointer to the FOC data
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* max - (in) maximum dq voltage magnitude
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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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static void foc_vdq_mag_max_set(FAR struct foc_data_s *foc, float max)
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{
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foc->vdq_mag_max = max;
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/* Update regulators saturation */
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pi_saturation_set(&foc->id_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
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pi_saturation_set(&foc->iq_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
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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_init
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*
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* Description:
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* Initialize FOC controller
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*
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* Input Parameters:
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* foc - (in/out) pointer to the FOC data
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* id_kp - (in) KP for d current
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* id_ki - (in) KI for d current
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* iq_kp - (in) KP for q current
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* iq_ki - (in) KI for q current
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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_init(FAR struct foc_data_s *foc,
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float id_kp, float id_ki, float iq_kp, float iq_ki)
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{
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/* Reset data */
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memset(foc, 0, sizeof(struct foc_data_s));
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/* Initialize PI current d component */
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pi_controller_init(&foc->id_pid, id_kp, id_ki);
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/* Initialize PI current q component */
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pi_controller_init(&foc->iq_pid, iq_kp, iq_ki);
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}
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/****************************************************************************
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* Name: foc_idq_ref_set
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*
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* Description:
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* Set dq reference current vector
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*
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* Input Parameters:
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* foc - (in/out) pointer to the FOC data
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* d - (in) reference d current
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* q - (in) reference q current
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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_idq_ref_set(FAR struct foc_data_s *foc, float d, float q)
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{
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foc->i_dq_ref.d = d;
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foc->i_dq_ref.q = q;
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}
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/****************************************************************************
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* Name: foc_vbase_update
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*
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* Description:
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* Update base voltage for FOC controller
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*
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* Input Parameters:
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* foc - (in/out) pointer to the FOC data
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* vbase - (in) base voltage for FOC
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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_vbase_update(FAR struct foc_data_s *foc, float vbase)
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{
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float scale = 0.0f;
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float mag_max = 0.0f;
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/* Only if voltage is valid */
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if (vbase >= 0.0f)
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{
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scale = 1.0f/vbase;
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mag_max = vbase;
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}
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foc_vab_mod_scale_set(foc, scale);
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foc_vdq_mag_max_set(foc, mag_max);
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}
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/****************************************************************************
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* Name: foc_process
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*
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* Description:
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* Process FOC (Field Oriented Control)
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*
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* Input Parameters:
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* foc - (in/out) pointer to the FOC data
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* i_abc - (in) pointer to the ABC current frame
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* angle - (in) pointer to the phase angle data
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*
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* Returned Value:
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* None
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*
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* TODO: add some reference and a brief description of the FOC
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*
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****************************************************************************/
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void foc_process(FAR struct foc_data_s *foc,
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FAR abc_frame_t *i_abc,
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FAR phase_angle_t *angle)
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{
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DEBUGASSERT(foc != NULL);
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DEBUGASSERT(i_abc != NULL);
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DEBUGASSERT(angle != NULL);
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/* Copy ABC current to foc data */
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foc->i_abc.a = i_abc->a;
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foc->i_abc.b = i_abc->b;
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foc->i_abc.c = i_abc->c;
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/* Convert abc current to alpha-beta current */
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clarke_transform(&foc->i_abc, &foc->i_ab);
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/* Convert alpha-beta current to dq current */
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park_transform(angle, &foc->i_ab, &foc->i_dq);
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/* Run FOC current control (current dq -> voltage dq) */
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foc_current_control(foc);
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/* Inverse Park tranform (voltage dq -> voltage alpha-beta) */
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inv_park_transform(angle, &foc->v_dq, &foc->v_ab);
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/* Normalize the alpha-beta voltage to get the alpha-beta modulation voltage */
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foc->v_ab_mod.a = foc->v_ab.a * foc->vab_mod_scale;
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foc->v_ab_mod.b = foc->v_ab.b * foc->vab_mod_scale;
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}
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