437 lines
10 KiB
C
437 lines
10 KiB
C
/****************************************************************************
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* libs/libdsp/lib_svm.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 <assert.h>
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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: svm3_sector_get
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*
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* Description:
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* Get current sector for space vector modulation.
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*
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* Input Parameters:
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* ijk - (in) pointer to the auxiliary ABC 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 uint8_t svm3_sector_get(FAR abc_frame_f32_t *ijk)
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{
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uint8_t sector = 0;
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float i = ijk->a;
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float j = ijk->b;
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float k = ijk->c;
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/* Identify the correct sector based on i,j,k frame:
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* 1. sector 1:
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* i > 0.0
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* j > 0.0
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* k <= 0.0
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* 2. sector 2:
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* i <= 0.0
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* j > 0.0
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* k <= 0.0
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* 3. sector 3:
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* i <= 0.0
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* j > 0.0
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* k > 0.0
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* 4. sector 4:
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* i <= 0.0
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* j <= 0.0
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* k > 0.0
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* 5. sector 5:
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* i > 0.0
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* j <= 0.0
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* k > 0.0
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* 6. sector 6:
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* i > 0.0
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* j <= 0.0
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* k <= 0.0
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*/
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if (k <= 0.0)
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{
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if (i <= 0.0)
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{
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sector = 2;
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}
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else
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{
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if (j <= 0.0)
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{
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sector = 6;
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}
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else
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{
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sector = 1;
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}
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}
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}
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else
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{
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if (i <= 0.0)
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{
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if (j <= 0.0)
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{
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sector = 4;
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}
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else
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{
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sector = 3;
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}
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}
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else
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{
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sector = 5;
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}
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}
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/* Return SVM sector */
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return sector;
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}
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/****************************************************************************
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* Name: svm3_duty_calc
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*
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* Description:
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* Calculate duty cycles for space vector modulation.
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*
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* Input Parameters:
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* s - (in/out) pointer to the SVM state data
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* ijk - (in) pointer to the auxiliary ABC 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 svm3_duty_calc(FAR struct svm3_state_f32_s *s,
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FAR abc_frame_f32_t *ijk)
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{
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float i = ijk->a;
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float j = ijk->b;
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float k = ijk->c;
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float T0 = 0.0f;
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float T1 = 0.0f;
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float T2 = 0.0f;
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/* Determine T1, T2 and T0 based on the sector */
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switch (s->sector)
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{
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case 1:
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{
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T1 = i;
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T2 = j;
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break;
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}
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case 2:
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{
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T1 = -k;
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T2 = -i;
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break;
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}
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case 3:
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{
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T1 = j;
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T2 = k;
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break;
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}
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case 4:
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{
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T1 = -i;
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T2 = -j;
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break;
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}
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case 5:
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{
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T1 = k;
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T2 = i;
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break;
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}
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case 6:
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{
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T1 = -j;
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T2 = -k;
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break;
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}
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default:
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{
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/* We should not get here */
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LIBDSP_DEBUGASSERT(0);
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break;
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}
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}
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/* Get null vector time */
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T0 = 1.0f - T1 - T2;
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/* Calculate duty cycle for 3 phase */
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switch (s->sector)
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{
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case 1:
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{
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s->d_u = T1 + T2 + T0 * 0.5f;
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s->d_v = T2 + T0 * 0.5f;
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s->d_w = T0 * 0.5f;
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break;
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}
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case 2:
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{
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s->d_u = T1 + T0 * 0.5f;
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s->d_v = T1 + T2 + T0 * 0.5f;
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s->d_w = T0 * 0.5f;
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break;
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}
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case 3:
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{
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s->d_u = T0 * 0.5f;
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s->d_v = T1 + T2 + T0 * 0.5f;
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s->d_w = T2 + T0 * 0.5f;
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break;
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}
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case 4:
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{
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s->d_u = T0 * 0.5f;
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s->d_v = T1 + T0 * 0.5f;
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s->d_w = T1 + T2 + T0 * 0.5f;
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break;
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}
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case 5:
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{
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s->d_u = T2 + T0 * 0.5f;
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s->d_v = T0 * 0.5f;
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s->d_w = T1 + T2 + T0 * 0.5f;
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break;
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}
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case 6:
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{
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s->d_u = T1 + T2 + T0 * 0.5f;
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s->d_v = T0 * 0.5f;
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s->d_w = T1 + T0 * 0.5f;
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break;
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}
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default:
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{
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/* We should not get here */
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LIBDSP_DEBUGASSERT(0);
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break;
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}
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}
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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: svm3
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*
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* Description:
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* One step of the space vector modulation.
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* This is most common of SVM with alternate-reverse null vector.
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*
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* Voltage vector definitions in 3-phase SVM:
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*
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* |---------|-----------|--------------------|-----------------|
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* | Voltage | switching | Line to neutral | Line to line |
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* | vector | vectors | voltage | voltage |
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* | |-----------|--------------------|-----------------|
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* | | a | b | c | Van | Vbn | Vcn | Vab | Vbe | Vca |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V1 | 1 | 0 | 0 | 2/3 | -1/3 | -1/3 | 1 | 0 | -1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V2 | 1 | 1 | 0 | 1/3 | 1/3 | -2/3 | 0 | 1 | -1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V3 | 0 | 1 | 0 | -1/3 | 2/3 | -1/3 | -1 | 1 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V4 | 0 | 1 | 1 | -2/3 | 1/3 | 1/3 | -1 | 0 | 1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V5 | 0 | 0 | 1 | -1/3 | -1/3 | 2/3 | 0 | -1 | 1 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V6 | 1 | 0 | 1 | 1/3 | -2/3 | 1/3 | 1 | -1 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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* | V7 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 |
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* |---------|---|---|---|------|------|------|-----|-----|-----|
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*
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* Voltage values given in relation to the bus voltage (Vbus)/
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*
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* Input Parameters:
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* s - (out) pointer to the SVM data
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* v_ab - (in) pointer to the modulation voltage vector in alpha-beta
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* frame, normalized to magnitude (0.0 - 1.0)
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*
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* NOTE: v_ab vector magnitude must be in range <0.0, 1.0> to get correct
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* SVM3 results.
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*
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* REFERENCE:
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* https://e2e.ti.com/group/motor/m/pdf_presentations/665547/download
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* pages 32-34
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*
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****************************************************************************/
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void svm3(FAR struct svm3_state_f32_s *s, FAR ab_frame_f32_t *v_ab)
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{
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LIBDSP_DEBUGASSERT(s != NULL);
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LIBDSP_DEBUGASSERT(v_ab != NULL);
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abc_frame_f32_t ijk;
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/* Perform modified inverse Clarke-transformation (alpha,beta) -> (i,j,k)
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* to obtain auxiliary frame which will be used in further calculations.
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*/
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ijk.a = -0.5f*v_ab->b + SQRT3_BY_TWO_F*v_ab->a;
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ijk.b = v_ab->b;
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ijk.c = -ijk.b - ijk.a;
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/* Get vector sector */
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s->sector = svm3_sector_get(&ijk);
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/* Get duty cycle */
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svm3_duty_calc(s, &ijk);
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/* NOTE: we return not-saturated output. Duty-cycle saturation is
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* board-specific characteristic and we have not access to this
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* information here.
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*/
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}
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/****************************************************************************
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* Name: svm3_current_correct
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*
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* Description:
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* Correct ADC samples (int32) according to SVM3 state.
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* NOTE: This works only with 3 shunt resistors configuration.
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*
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****************************************************************************/
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void svm3_current_correct(FAR struct svm3_state_f32_s *s,
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float *c0, float *c1, float *c2)
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{
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/* Get best ADC samples according to SVM sector.
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*
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* In SVM phase current can be sampled only in v0 vector state, when lower
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* bridge transistors are turned on.
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*
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* We ignore sample from phase which has the shortest V0 state and
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* estimate its value with KCL for motor phases:
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* i_a + i_b + i_c = 0
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*/
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switch (s->sector)
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{
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case 1:
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case 6:
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{
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/* Sector 1-6: ignore phase 1 */
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*c0 = -(*c1 + *c2);
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break;
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}
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case 2:
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case 3:
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{
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/* Sector 2-3: ignore phase 2 */
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*c1 = -(*c0 + *c2);
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break;
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}
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case 4:
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case 5:
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{
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/* Sector 4-5: ignore phase 3 */
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*c2 = -(*c0 + *c1);
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break;
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}
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default:
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{
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/* We should not get here. */
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*c0 = 0;
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*c1 = 0;
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*c2 = 0;
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break;
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}
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}
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}
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/****************************************************************************
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* Name: svm3_init
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*
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* Description:
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* Initialize 3-phase SVM data.
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*
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* Input Parameters:
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* s - (in/out) pointer to the SVM state 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 svm3_init(FAR struct svm3_state_f32_s *s)
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{
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LIBDSP_DEBUGASSERT(s != NULL);
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memset(s, 0, sizeof(struct svm3_state_f32_s));
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}
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