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nuttx/include/dsp.h
Mateusz Szafoni b5ec5349b0 Merged in raiden00/nuttx (pull request #648) 
libdsp: initial commit

* libdsp: initial commit

* libdsp: cosmetics

Approved-by: Gregory Nutt <gnutt@nuttx.org>
2018-05-30 12:36:06 +00:00

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/****************************************************************************
* include/dsp.h
*
* 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.
*
****************************************************************************/
#ifndef __INCLUDE_DSP_H
#define __INCLUDE_DSP_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/compiler.h>
#include <stdint.h>
#include <math.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Some math constants *********************************************************/
#define SQRT3_BY_TWO_F ((float)0.866025)
#define SQRT3_BY_THREE_F ((float)0.57735)
#define ONE_BY_SQRT3_F ((float)0.57735)
#define TWO_BY_SQRT3_F ((float)1.15470)
/* Some useful macros ***************************************************************/
/* Simple single-pole digital low pass filter:
* Y(n) = (1-beta)*Y(n-1) + beta*X(n) = (beta * (Y(n-1) - X(n)))
*
* filter - (0.0 - 1.0) where 1.0 gives unfiltered values
* filter = T * (2*PI) * f_c
*
* phase shift = -arctan(f_in/f_c)
*
* T - period at which the digital filter is being calculated
* f_in - input frequency of the filter
* f_c - cutoff frequency of the filter
*
* REFERENCE: https://www.embeddedrelated.com/showarticle/779.php
*
*/
#define LP_FILTER(val, sample, filter) val -= (filter * (val - sample))
/****************************************************************************
* Public Types
****************************************************************************/
/* This structure represents phase angle.
* Besides angle value it also stores sine and cosine values for given angle.
*/
struct phase_angle_s
{
float angle; /* Phase angle in radians <0, 2PI> */
float sin; /* Phase angle sine */
float cos; /* Phase angle cosine */
};
typedef struct phase_angle_s phase_angle_t;
/* Float number saturaton */
struct float_sat_s
{
float min; /* Lower limit */
float max; /* Upper limit */
};
typedef struct float_sat_s float_sat_t;
/* PI/PID controler state structure */
struct pid_controller_s
{
float out; /* Controller output */
float_sat_t sat; /* Output saturation */
float err; /* Current error value */
float err_prev; /* Previous error value */
float KP; /* Proportional coefficient */
float KI; /* Integral coefficient */
float KD; /* Derivative coefficient */
float part[3] /* 0 - proporitonal part
* 1 - integral part
* 2 - derivative part
*/
};
typedef struct pid_controller_s pid_controller_t;
/* This structure represents the ABC frame (3 phase vector) */
struct abc_frame_s
{
float a; /* A component */
float b; /* B component */
float c; /* C component */
};
typedef struct abc_frame_s abc_frame_t;
/* This structure represents the alpha-beta frame (2 phase vector) */
struct ab_frame_s
{
float a; /* Alpha component */
float b; /* Beta component */
};
typedef struct ab_frame_s ab_frame_t;
/* This structure represent the direct-quadrature frame */
struct dq_frame_s
{
float d; /* Driect component */
float q; /* Quadrature component */
};
typedef struct dq_frame_s dq_frame_t;
/* Space Vector Modulation data for 3-phase system */
struct svm3_state_s
{
uint8_t sector; /* Current space vector sector */
float d_u; /* Duty cycle for phase U */
float d_v; /* Duty cycle for phase V */
float d_w; /* Duty cycle for phase W */
};
/* Common motor observer structure */
struct motor_observer_s
{
float angle; /* Estimated observer angle */
float speed; /* Estimated observer speed */
float per; /* Observer execution period */
/* There are different types of motor observers which different
* sets of private data.
*/
void *so; /* Speed estimation observer data */
void *ao; /* Angle estimation observer data */
};
/* Motor Sliding Mode Observer private data */
struct motor_observer_smo_s
{
float k_slide; /* Bang-bang controller gain */
float err_max; /* Linear mode threashold */
float F_gain; /* Current observer F gain (1-Ts*R/L) */
float G_gain; /* Current observer G gain (Ts/L) */
float emf_lp_filter1; /* Adaptive first low pass EMF filter */
float emf_lp_filter2; /* Adaptive second low pass EMF filter */
ab_frame_t emf; /* Estimated back-EMF */
ab_frame_t z; /* Correction factor */
ab_frame_t i_est; /* Estimated idq current */
ab_frame_t v_err; /* v_err = v_ab - emf */
ab_frame_t i_err; /* i_err = i_est - i_dq */
ab_frame_t sign; /* Bang-bang controller sign */
};
/* Motor physical parameters.
* This data structure was designed to work with BLDC/PMSM motors,
* but probably can be used to describe different types of motors.
*/
struct motor_phy_params_s
{
uint8_t poles; /* Number of the motor poles */
float res; /* Phase-to-neutral temperature compensated resistance */
float ind; /* Average phase-to-neutral inductance */
float res_base; /* Phase-to-neutral base resistance */
float res_alpha; /* Temperature coefficient of resistance */
float res_temp_ref; /* Reference temperature of alpha */
};
/****************************************************************************
* Public Functions
****************************************************************************/
/* Math functions */
float fast_sin(float angle);
float fast_sin2(float angle);
float fast_cos(float angle);
float fast_cos2(float angle);
float fast_atan2(float y, float x);
void f_saturate(FAR float *val, float min, float max);
void vector2d_saturate(FAR float *x, FAR float *y, float max);
void dq_saturate(FAR dq_frame_t *dq, float max);
/* PID controller functions */
void pid_controller_init(FAR pid_controller_t *pid, float KP, float KI, float KD);
void pi_controller_init(FAR pid_controller_t *pid, float KP, float KI);
void pid_saturation_set(FAR pid_controller_t *pid, float min, float max);
void pi_saturation_set(FAR pid_controller_t *pid, float min, float max);
float pi_controller(FAR pid_controller_t *pid, float err);
float pid_controller(FAR pid_controller_t *pid, float err);
/* Transformation functions */
void clarke_transform(FAR abc_frame_t *abc, FAR ab_frame_t *ab);
void inv_clarke_transform(FAR ab_frame_t *ab, FAR abc_frame_t *abc);
void park_transform(FAR phase_angle_t *angle, FAR ab_frame_t *ab,
FAR dq_frame_t *dq);
void inv_park_transform(FAR phase_angle_t *angle, FAR dq_frame_t *dq,
FAR ab_frame_t *ab);
void angle_norm(FAR float *angle, float per, float bottom, float top);
void angle_norm_2pi(FAR float *angle, float bottom, float top);
void phase_angle_update(FAR struct phase_angle_s *angle, float val);
/* 3-phase system space vector modulation*/
void svm3(FAR struct svm3_state_s *s, FAR ab_frame_t *ab);
/* Field Oriented control */
void foc_current_control(FAR pid_controller_t *id_pid,
FAR pid_controller_t *iq_pid,
FAR dq_frame_t *idq_ref,
FAR dq_frame_t *idq,
FAR float_sat_t *sat,
FAR dq_frame_t *v_dq);
/* BLDC/PMSM motor observers */
void motor_observer_init(FAR struct motor_observer_s *observer,
FAR void *ao, FAR void *so, float per);
void motor_observer_smo_init(FAR struct motor_observer_smo_s *smo,
float kslide, float err_max);
void motor_observer_smo(FAR struct motor_observer_s *observer,
FAR ab_frame_t *i_ab, FAR ab_frame_t *v_ab,
FAR struct motor_phy_params_s *phy);
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
#endif /* __INCLUDE_DSP_H */
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