/**************************************************************************** * include/dspb16.h * * 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. * ****************************************************************************/ #ifndef __INCLUDE_DSPB16_H #define __INCLUDE_DSPB16_H /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Disable DEBUGASSERT macro if LIBDSP debug is not enabled */ #ifdef CONFIG_LIBDSP_DEBUG # ifndef CONFIG_DEBUG_ASSERTIONS # warning "Need CONFIG_DEBUG_ASSERTIONS to work properly" # endif # define LIBDSP_DEBUGASSERT(x) DEBUGASSERT(x) #else # undef LIBDSP_DEBUGASSERT # define LIBDSP_DEBUGASSERT(x) #endif #ifndef CONFIG_LIBDSP_PRECISION # define CONFIG_LIBDSP_PRECISION 0 #endif /* Phase rotation direction */ #define DIR_NONE_B16 ftob16(0.0f) #define DIR_CW_B16 ftob16(1.0f) #define DIR_CCW_B16 ftob16(-1.0f) /* Some math constants ******************************************************/ #define SQRT3_BY_TWO_B16 ftob16(0.866025f) #define SQRT3_BY_THREE_B16 ftob16(0.57735f) #define ONE_BY_SQRT3_B16 ftob16(0.57735f) #define TWO_BY_SQRT3_B16 ftob16(1.15470f) /* Some lib constants *******************************************************/ /* Motor electrical angle is in range 0.0 to 2*PI */ #define MOTOR_ANGLE_E_MAX_B16 (b16TWOPI) #define MOTOR_ANGLE_E_MIN_B16 (0) #define MOTOR_ANGLE_E_RANGE_B16 (MOTOR_ANGLE_E_MAX_B16 - MOTOR_ANGLE_E_MIN_B16) /* Motor mechanical angle is in range 0.0 to 2*PI */ #define MOTOR_ANGLE_M_MAX_B16 (b16TWOPI) #define MOTOR_ANGLE_M_MIN_B16 (0) #define MOTOR_ANGLE_M_RANGE_B16 (MOTOR_ANGLE_M_MAX_B16 - MOTOR_ANGLE_M_MIN_B16) /* Some useful macros *******************************************************/ /**************************************************************************** * Name: LP_FILTER_B16 * * Description: * 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) * time constant = -T / (ln(1 - filter)) * * 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_B16(val, sample, filter) val -= (b16mulb16(filter, (val - sample))) /**************************************************************************** * Name: SVM3_BASE_VOLTAGE_GET_B16 * * Description: * Get maximum voltage for SVM3 without overmodulation * * Notes: * max possible phase voltage for 3-phase power inverter: * Vd = (2/3)*Vdc * max phase reference voltage according to SVM modulation diagram: * Vrefmax = Vd * cos(30*) = SQRT3_BY_2 * Vd * which give us: * Vrefmax = SQRT3_BY_3 * Vdc * * Vdc - bus voltage * ****************************************************************************/ #define SVM3_BASE_VOLTAGE_GET_B16(vbus) (b16mulb16(vbus, SQRT3_BY_THREE_B16)) /**************************************************************************** * Public Types ****************************************************************************/ /* This structure represents phase angle. * Besides angle value it also stores sine and cosine values for given angle. */ struct phase_angle_b16_s { b16_t angle; /* Phase angle in radians <0, 2PI> */ b16_t sin; /* Phase angle sine */ b16_t cos; /* Phase angle cosine */ }; typedef struct phase_angle_b16_s phase_angle_b16_t; /* This structure stores motor angles and corresponding sin and cos values * * th_el = th_m * pole_pairs * th_m = th_el/pole_pairs * * where: * th_el - motor electrical angle * th_m - motor mechanical angle * pole_pairs - motor pole pairs * * NOTE: pole_pairs = poles_total/2 */ struct motor_angle_b16_s { phase_angle_b16_t angle_el; /* Electrical angle */ b16_t anglem; /* Mechanical angle in radians <0, 2PI> */ b16_t one_by_p; /* Aux variable */ uint8_t p; /* Number of the motor pole pairs */ int8_t i; /* Pole counter */ }; /* Float number saturaton */ struct float_sat_b16_s { b16_t min; /* Lower limit */ b16_t max; /* Upper limit */ }; typedef struct float_sat_b16_s float_sat_b16_t; /* PI/PID controller state structure */ struct pid_controller_b16_s { bool aw_en; /* Integral part decay if saturated */ bool ireset_en; /* Intergral part reset if saturated */ bool pisat_en; /* PI saturation enabled */ bool pidsat_en; /* PID saturation enabled */ bool _res; /* Reserved */ b16_t out; /* Controller output */ float_sat_b16_t sat; /* Output saturation */ b16_t err; /* Current error value */ b16_t err_prev; /* Previous error value */ b16_t KP; /* Proportional coefficient */ b16_t KI; /* Integral coefficient */ b16_t KD; /* Derivative coefficient */ b16_t part[3]; /* 0 - proporitonal part * 1 - integral part * 2 - derivative part */ b16_t KC; /* Integral anti-windup decay coefficient */ b16_t aw; /* Integral anti-windup decay part */ }; typedef struct pid_controller_b16_s pid_controller_b16_t; /* This structure represents the ABC frame (3 phase vector) */ struct abc_frame_b16_s { b16_t a; /* A component */ b16_t b; /* B component */ b16_t c; /* C component */ }; typedef struct abc_frame_b16_s abc_frame_b16_t; /* This structure represents the alpha-beta frame (2 phase vector) */ struct ab_frame_b16_s { b16_t a; /* Alpha component */ b16_t b; /* Beta component */ }; typedef struct ab_frame_b16_s ab_frame_b16_t; /* This structure represent the direct-quadrature frame */ struct dq_frame_b16_s { b16_t d; /* Driect component */ b16_t q; /* Quadrature component */ }; typedef struct dq_frame_b16_s dq_frame_b16_t; /* Space Vector Modulation data for 3-phase system */ struct svm3_state_b16_s { uint8_t sector; /* Current space vector sector */ b16_t d_u; /* Duty cycle for phase U */ b16_t d_v; /* Duty cycle for phase V */ b16_t d_w; /* Duty cycle for phase W */ }; /* Motor open-loop control data */ struct openloop_data_b16_s { b16_t angle; /* Open-loop current angle normalized to <0.0, 2PI> */ b16_t per; /* Open-loop control execution period */ }; /* Common motor speed observer structure */ struct motor_sobserver_b16_s { b16_t speed; /* Estimated observer speed */ b16_t per; /* Observer execution period */ /* There are different types of motor observers which different * sets of private data. */ void *so; /* Speed estimation observer data */ }; /* Common motor angle observer structure */ struct motor_aobserver_b16_s { b16_t angle; /* Estimated observer angle */ b16_t per; /* Observer execution period */ /* There are different types of motor observers which different * sets of private data. */ void *ao; /* Angle estimation observer data */ }; /* Speed observer division method data */ struct motor_sobserver_div_b16_s { b16_t angle_diff; /* Angle difference */ b16_t angle_acc; /* Accumulated angle */ b16_t angle_prev; /* Previous angle */ b16_t one_by_dt; /* Frequency of observer execution */ b16_t cntr; /* Sample counter */ b16_t samples; /* Number of samples for observer */ b16_t filter; /* Low-pass filter for final omega */ }; /* Speed observer PLL method data */ struct motor_sobserver_pll_b16_s { b16_t pll_phase; b16_t pll_kp; b16_t pll_ki; }; /* Motor Sliding Mode Observer private data */ struct motor_aobserver_smo_b16_s { b16_t k_slide; /* Bang-bang controller gain */ b16_t err_max; /* Linear mode threshold */ b16_t one_by_err_max; /* One by err_max */ b16_t F; /* Current observer F gain (1-Ts*R/L) */ b16_t G; /* Current observer G gain (Ts/L) */ b16_t emf_lp_filter1; /* Adaptive first low pass EMF filter */ b16_t emf_lp_filter2; /* Adaptive second low pass EMF filter */ ab_frame_b16_t emf; /* Estimated back-EMF */ ab_frame_b16_t emf_f; /* Fitlered estimated back-EMF */ ab_frame_b16_t z; /* Correction factor */ ab_frame_b16_t i_est; /* Estimated idq current */ ab_frame_b16_t v_err; /* v_err = v_ab - emf */ ab_frame_b16_t i_err; /* i_err = i_est - i_dq */ ab_frame_b16_t sign; /* Bang-bang controller sign */ }; /* Motor Nonlinear FluxLink Observer private data */ struct motor_aobserver_nfo_b16_s { b16_t x1; b16_t x2; }; /* FOC initialize data */ struct foc_initdata_b16_s { b16_t id_kp; /* KP for d current */ b16_t id_ki; /* KI for d current */ b16_t iq_kp; /* KP for q current */ b16_t iq_ki; /* KI for q current */ }; /* Field Oriented Control (FOC) data */ struct foc_data_b16_s { abc_frame_b16_t v_abc; /* Voltage in ABC frame */ ab_frame_b16_t v_ab; /* Voltage in alpha-beta frame */ dq_frame_b16_t v_dq; /* Requested voltage in dq frame */ ab_frame_b16_t v_ab_mod; /* Modulation voltage normalized to * magnitude (0.0, 1.0) */ abc_frame_b16_t i_abc; /* Current in ABC frame */ ab_frame_b16_t i_ab; /* Current in alpha-beta frame */ dq_frame_b16_t i_dq; /* Current in dq frame */ dq_frame_b16_t i_dq_err; /* DQ current error */ dq_frame_b16_t i_dq_ref; /* Requested current for the FOC * current controller */ pid_controller_b16_t id_pid; /* Current d-axis component PI controller */ pid_controller_b16_t iq_pid; /* Current q-axis component PI controller */ b16_t vdq_mag_max; /* Maximum dq voltage magnitude */ b16_t vab_mod_scale; /* Voltage alpha-beta modulation scale */ phase_angle_b16_t angle; /* Phase angle */ }; /* 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_b16_s { uint8_t p; /* Number of the motor pole pairs */ b16_t flux_link; /* Flux linkage */ b16_t res; /* Average phase-to-neutral resistance */ b16_t ind; /* Average phase-to-neutral inductance */ b16_t one_by_ind; /* Inverse phase-to-neutral inductance */ b16_t one_by_p; /* Inverse number of motor pole pairs */ }; /* PMSM motor physcial parameters */ struct pmsm_phy_params_b16_s { struct motor_phy_params_b16_s motor; /* Motor common PHY */ b16_t iner; /* Rotor inertia */ b16_t ind_d; /* d-inductance */ b16_t ind_q; /* q-inductance */ b16_t one_by_iner; /* One by J */ b16_t one_by_indd; /* One by Ld */ b16_t one_by_indq; /* One by Lq */ }; /* PMSM motor model state */ struct pmsm_model_state_b16_s { /* Motor model phase current */ abc_frame_b16_t i_abc; ab_frame_b16_t i_ab; dq_frame_b16_t i_dq; /* Motor model phase voltage */ abc_frame_b16_t v_abc; ab_frame_b16_t v_ab; dq_frame_b16_t v_dq; /* Motor model angle */ struct motor_angle_b16_s angle; /* Angular speed */ b16_t omega_e; b16_t omega_m; }; /* PMSM motor model external conditions */ struct pmsm_model_ext_b16_s { b16_t load; /* Motor model load torque */ }; /* PMSM motor model */ struct pmsm_model_b16_s { struct pmsm_phy_params_b16_s phy; /* Motor model physical parameters */ struct pmsm_model_state_b16_s state; /* Motor model state */ struct pmsm_model_ext_b16_s ext; /* Motor model external conditions */ b16_t per; /* Control period */ b16_t id_int; /* Id integral part */ b16_t iq_int; /* Iq integral part */ }; /**************************************************************************** * Public Functions Prototypes ****************************************************************************/ #undef EXTERN #if defined(__cplusplus) #define EXTERN extern "C" extern "C" { #else #define EXTERN extern #endif /* Math functions */ b16_t fast_sin_b16(b16_t angle); b16_t fast_sin2_b16(b16_t angle); b16_t fast_cos_b16(b16_t angle); b16_t fast_cos2_b16(b16_t angle); b16_t fast_atan2_b16(b16_t y, b16_t x); void f_saturate_b16(FAR b16_t *val, b16_t min, b16_t max); b16_t vector2d_mag_b16(b16_t x, b16_t y); void vector2d_saturate_b16(FAR b16_t *x, FAR b16_t *y, b16_t max); void dq_saturate_b16(FAR dq_frame_b16_t *dq, b16_t max); b16_t dq_mag_b16(FAR dq_frame_b16_t *dq); /* PID controller functions */ void pid_controller_init_b16(FAR pid_controller_b16_t *pid, b16_t KP, b16_t KI, b16_t KD); void pi_controller_init_b16(FAR pid_controller_b16_t *pid, b16_t KP, b16_t KI); void pid_saturation_set_b16(FAR pid_controller_b16_t *pid, b16_t min, b16_t max); void pi_saturation_set_b16(FAR pid_controller_b16_t *pid, b16_t min, b16_t max); void pid_integral_reset_b16(FAR pid_controller_b16_t *pid); void pi_integral_reset_b16(FAR pid_controller_b16_t *pid); b16_t pi_controller_b16(FAR pid_controller_b16_t *pid, b16_t err); b16_t pid_controller_b16(FAR pid_controller_b16_t *pid, b16_t err); void pi_antiwindup_enable_b16(FAR pid_controller_b16_t *pid, b16_t KC, bool enable); void pi_ireset_enable_b16(FAR pid_controller_b16_t *pid, bool enable); /* Transformation functions */ void clarke_transform_b16(FAR abc_frame_b16_t *abc, FAR ab_frame_b16_t *ab); void inv_clarke_transform_b16(FAR ab_frame_b16_t *ab, FAR abc_frame_b16_t *abc); void park_transform_b16(FAR phase_angle_b16_t *angle, FAR ab_frame_b16_t *ab, FAR dq_frame_b16_t *dq); void inv_park_transform_b16(FAR phase_angle_b16_t *angle, FAR dq_frame_b16_t *dq, FAR ab_frame_b16_t *ab); /* Phase angle related functions */ void angle_norm_b16(FAR b16_t *angle, b16_t per, b16_t bottom, b16_t top); void angle_norm_2pi_b16(FAR b16_t *angle, b16_t bottom, b16_t top); void phase_angle_update_b16(FAR struct phase_angle_b16_s *angle, b16_t val); /* 3-phase system space vector modulation */ void svm3_init_b16(FAR struct svm3_state_b16_s *s); void svm3_b16(FAR struct svm3_state_b16_s *s, FAR ab_frame_b16_t *ab); void svm3_current_correct_b16(FAR struct svm3_state_b16_s *s, b16_t *c0, b16_t *c1, b16_t *c2); /* Field Oriented Control */ void foc_init_b16(FAR struct foc_data_b16_s *foc, FAR struct foc_initdata_b16_s *init); void foc_vbase_update_b16(FAR struct foc_data_b16_s *foc, b16_t vbase); void foc_angle_update_b16(FAR struct foc_data_b16_s *foc, FAR phase_angle_b16_t *angle); void foc_iabc_update_b16(FAR struct foc_data_b16_s *foc, FAR abc_frame_b16_t *i_abc); void foc_voltage_control_b16(FAR struct foc_data_b16_s *foc, FAR dq_frame_b16_t *vdq_ref); void foc_current_control_b16(FAR struct foc_data_b16_s *foc, FAR dq_frame_b16_t *idq_ref, FAR dq_frame_b16_t *vdq_comp, FAR dq_frame_b16_t *v_dq_ref); void foc_vabmod_get_b16(FAR struct foc_data_b16_s *foc, FAR ab_frame_b16_t *v_ab_mod); void foc_vdq_mag_max_get_b16(FAR struct foc_data_b16_s *foc, FAR b16_t *max); /* BLDC/PMSM motor observers */ void motor_sobserver_init_b16(FAR struct motor_sobserver_b16_s *observer, FAR void *so, b16_t per); void motor_aobserver_init_b16(FAR struct motor_aobserver_b16_s *observer, FAR void *ao, b16_t per); b16_t motor_sobserver_speed_get_b16(FAR struct motor_sobserver_b16_s *o); b16_t motor_aobserver_angle_get_b16(FAR struct motor_aobserver_b16_s *o); void motor_aobserver_smo_init_b16(FAR struct motor_aobserver_smo_b16_s *smo, b16_t kslide, b16_t err_max); void motor_aobserver_smo_b16(FAR struct motor_aobserver_b16_s *o, FAR ab_frame_b16_t *i_ab, FAR ab_frame_b16_t *v_ab, FAR struct motor_phy_params_b16_s *phy, b16_t dir, b16_t speed); void motor_sobserver_div_init_b16(FAR struct motor_sobserver_div_b16_s *so, uint8_t samples, b16_t filer, b16_t per); void motor_sobserver_div_b16(FAR struct motor_sobserver_b16_s *o, b16_t angle); void motor_aobserver_nfo_init_b16(FAR struct motor_aobserver_nfo_b16_s *nfo); void motor_aobserver_nfo_b16(FAR struct motor_aobserver_b16_s *o, FAR ab_frame_b16_t *i_ab, FAR ab_frame_b16_t *v_ab, FAR struct motor_phy_params_b16_s *phy, b16_t gain); void motor_sobserver_pll_init_b16(FAR struct motor_sobserver_pll_b16_s *so, b16_t pll_kp, b16_t pll_ki); void motor_sobserver_pll_b16(FAR struct motor_sobserver_b16_s *o, b16_t angle); /* Motor openloop control */ void motor_openloop_init_b16(FAR struct openloop_data_b16_s *op, b16_t per); void motor_openloop_b16(FAR struct openloop_data_b16_s *op, b16_t speed, b16_t dir); b16_t motor_openloop_angle_get_b16(FAR struct openloop_data_b16_s *op); /* Motor angle */ void motor_angle_init_b16(FAR struct motor_angle_b16_s *angle, uint8_t p); void motor_angle_e_update_b16(FAR struct motor_angle_b16_s *angle, b16_t angle_new, b16_t dir); void motor_angle_m_update_b16(FAR struct motor_angle_b16_s *angle, b16_t angle_new, b16_t dir); b16_t motor_angle_m_get_b16(FAR struct motor_angle_b16_s *angle); b16_t motor_angle_e_get_b16(FAR struct motor_angle_b16_s *angle); /* Motor physical parameters */ void motor_phy_params_init_b16(FAR struct motor_phy_params_b16_s *phy, uint8_t poles, b16_t res, b16_t ind, b16_t fluxlink); /* PMSM physical parameters functions */ void pmsm_phy_params_init_b16(FAR struct pmsm_phy_params_b16_s *phy, uint8_t poles, b16_t res, b16_t ind, b16_t iner, b16_t flux, b16_t ind_d, b16_t ind_q); /* PMSM motor model */ int pmsm_model_initialize_b16(FAR struct pmsm_model_b16_s *model, FAR struct pmsm_phy_params_b16_s *phy, b16_t per); int pmsm_model_elec_b16(FAR struct pmsm_model_b16_s *model, FAR ab_frame_b16_t *vab); int pmsm_model_mech_b16(FAR struct pmsm_model_b16_s *model, b16_t load); #undef EXTERN #if defined(__cplusplus) } #endif #endif /* __INCLUDE_DSPB16_H */