462 lines
12 KiB
C
462 lines
12 KiB
C
/****************************************************************************
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* libs/libdsp/lib_foc.c
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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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <dsp.h>
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#include <string.h>
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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_controller
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*
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* Description:
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* This function implements FOC current controller 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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* v_dq_req - (in) pointer to the voltage DQ request 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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static void foc_current_controller(FAR struct foc_data_f32_s *foc,
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FAR dq_frame_f32_t *v_dq_req)
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{
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FAR pid_controller_f32_t *id_pid = &foc->id_pid;
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FAR pid_controller_f32_t *iq_pid = &foc->iq_pid;
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LIBDSP_DEBUGASSERT(foc != NULL);
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LIBDSP_DEBUGASSERT(v_dq_req != NULL);
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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_req->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_req->q = pi_controller(iq_pid, foc->i_dq_err.q);
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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_f32_s *foc,
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float scale)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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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_f32_s *foc, float max)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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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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* Name: foc_vdq_ref_set
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*
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* Description:
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* Set dq requested voltage 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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* vdq_ref - (in) pointer to the requested idq 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_vdq_ref_set(FAR struct foc_data_f32_s *foc,
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FAR dq_frame_f32_t *vdq_ref)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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LIBDSP_DEBUGASSERT(vdq_ref != NULL);
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foc->v_dq.d = vdq_ref->d;
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foc->v_dq.q = vdq_ref->q;
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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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* idq_ref - (in) pointer to the reference idq 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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static void foc_idq_ref_set(FAR struct foc_data_f32_s *foc,
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FAR dq_frame_f32_t *idq_ref)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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LIBDSP_DEBUGASSERT(idq_ref != NULL);
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foc->i_dq_ref.d = idq_ref->d;
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foc->i_dq_ref.q = idq_ref->q;
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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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* init - (in) pointer to the FOC initialization 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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void foc_init(FAR struct foc_data_f32_s *foc,
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FAR struct foc_initdata_f32_s *init)
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{
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/* Reset data */
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memset(foc, 0, sizeof(struct foc_data_f32_s));
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/* Initialize PI current d component */
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pi_controller_init(&foc->id_pid, init->id_kp, init->id_ki);
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/* Initialize PI current q component */
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pi_controller_init(&foc->iq_pid, init->iq_kp, init->iq_ki);
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/* Disable PI intergral part reset when saturated */
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pi_ireset_enable(&foc->iq_pid, false);
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pi_ireset_enable(&foc->id_pid, false);
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/* Enable PI anti-windup protection */
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pi_antiwindup_enable(&foc->iq_pid, 0.99, true);
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pi_antiwindup_enable(&foc->id_pid, 0.99, true);
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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_f32_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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/* Prevent division by zero */
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if (vbase < 1e-10f)
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{
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vbase = 1e-10f;
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}
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/* NOTE: this is base voltage for FOC, not bus voltage! */
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scale = (1.0f / vbase);
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mag_max = vbase;
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/* Update */
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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_angle_update
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*
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* Description:
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* Update FOC data with new motor phase angle.
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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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* 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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****************************************************************************/
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void foc_angle_update(FAR struct foc_data_f32_s *foc,
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FAR phase_angle_f32_t *angle)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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LIBDSP_DEBUGASSERT(angle != NULL);
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/* Copy angle to foc data */
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foc->angle.angle = angle->angle;
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foc->angle.sin = angle->sin;
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foc->angle.cos = angle->cos;
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}
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/****************************************************************************
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* Name: foc_iabc_update
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*
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* Description:
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* Update FOC data with new iabc frame.
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*
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* To work properly this function requires some additional steps:
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* 1. phase angle must be set with foc_angle_update()
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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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*
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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_iabc_update(FAR struct foc_data_f32_s *foc,
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FAR abc_frame_f32_t *i_abc)
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{
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dq_frame_f32_t i_dq;
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LIBDSP_DEBUGASSERT(foc != NULL);
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LIBDSP_DEBUGASSERT(i_abc != NULL);
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/* Reset data */
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i_dq.d = 0;
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i_dq.q = 0;
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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(&foc->angle, &foc->i_ab, &i_dq);
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/* Store dq current */
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foc->i_dq.d = i_dq.d;
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foc->i_dq.q = i_dq.q;
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}
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/****************************************************************************
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* Name: foc_voltage_control
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*
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* Description:
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* Process FOC voltage 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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* vdq_ref - (in) voltage dq reference 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_voltage_control(FAR struct foc_data_f32_s *foc,
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FAR dq_frame_f32_t *vdq_ref)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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/* Update VDQ request */
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foc_vdq_ref_set(foc, vdq_ref);
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/* Inverse Park transform (voltage dq -> voltage alpha-beta) */
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inv_park_transform(&foc->angle, &foc->v_dq, &foc->v_ab);
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#ifdef CONFIG_LIBDSP_FOC_VABC
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/* Inverse Clarke transform (voltage alpha-beta -> voltage abc) */
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inv_clarke_transform(&foc->v_ab, &foc->v_abc);
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#endif
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/* Normalize the alpha-beta voltage to get the alpha-beta modulation
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* voltage
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*/
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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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/****************************************************************************
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* Name: foc_current_control
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*
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* Description:
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* Process FOC current 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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* idq_ref - (in) current dq reference frame
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* vdq_comp - (in) voltage dq compensation frame
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* vdq_ref - (out) voltage dq reference frame
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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_current_control(FAR struct foc_data_f32_s *foc,
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FAR dq_frame_f32_t *idq_ref,
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FAR dq_frame_f32_t *vdq_comp,
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FAR dq_frame_f32_t *vdq_ref)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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/* Update IDQ reference */
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foc_idq_ref_set(foc, idq_ref);
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/* Run FOC current controller (current dq -> voltage dq) */
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foc_current_controller(foc, vdq_ref);
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/* DQ voltage compensation */
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vdq_ref->d = vdq_ref->d - vdq_comp->d;
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vdq_ref->q = vdq_ref->q - vdq_comp->q;
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}
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/****************************************************************************
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* Name: foc_vabmod_get
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*
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* Description:
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* Get result from the FOC controller (foc_current_control or
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* foc_voltage_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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* v_ab_mod - (out) pointer to the voltage alpha-beta modulation 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_vabmod_get(FAR struct foc_data_f32_s *foc,
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FAR ab_frame_f32_t *v_ab_mod)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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LIBDSP_DEBUGASSERT(v_ab_mod != NULL);
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v_ab_mod->a = foc->v_ab_mod.a;
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v_ab_mod->b = foc->v_ab_mod.b;
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}
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/****************************************************************************
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* Name: foc_vdq_mag_max_get
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*
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* Description:
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* Get 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 - (out) 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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void foc_vdq_mag_max_get(FAR struct foc_data_f32_s *foc, FAR float *max)
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{
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LIBDSP_DEBUGASSERT(foc != NULL);
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*max = foc->vdq_mag_max;
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}
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