423 lines
12 KiB
C
423 lines
12 KiB
C
/****************************************************************************
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* libs/libdsp/lib_motor.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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* Pre-processor Definitions
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****************************************************************************/
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#define POLE_CNTR_THR (0.0f)
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: motor_openloop_init
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*
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* Description:
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* Initialize open-loop data
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*
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* Input Parameters:
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* op - (in/out) pointer to the openloop data structure
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* per - (in) period of the open-loop control
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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 motor_openloop_init(FAR struct openloop_data_f32_s *op, float per)
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{
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LIBDSP_DEBUGASSERT(op != NULL);
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LIBDSP_DEBUGASSERT(per > 0.0f);
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/* Reset openloop structure */
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memset(op, 0, sizeof(struct openloop_data_f32_s));
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/* Initialize data */
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op->per = per;
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}
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/****************************************************************************
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* Name: motor_openloop
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*
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* Description:
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* One step of the open-loop control
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*
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* Input Parameters:
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* op - (in/out) pointer to the open-loop data structure
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* speed - (in) open-loop speed
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* dir - (in) rotation direction
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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 motor_openloop(FAR struct openloop_data_f32_s *op, float speed,
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float dir)
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{
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LIBDSP_DEBUGASSERT(op != NULL);
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LIBDSP_DEBUGASSERT(speed >= 0.0f);
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LIBDSP_DEBUGASSERT(dir == DIR_CW || dir == DIR_CCW);
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float phase_step = 0.0f;
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/* Get phase step */
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phase_step = dir * speed * op->per;
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/* Update open-loop angle */
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op->angle += phase_step;
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/* Normalize the open-loop angle to 0.0 - 2PI range */
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angle_norm_2pi(&op->angle, MOTOR_ANGLE_E_MIN, MOTOR_ANGLE_E_MAX);
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}
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/****************************************************************************
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* Name: motor_openloop_angle_get
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*
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* Description:
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* Get angle from open-loop controller
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*
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* Input Parameters:
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* op - (in/out) pointer to the open-loop data structure
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*
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* Returned Value:
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* Return angle from open-loop controller
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*
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****************************************************************************/
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float motor_openloop_angle_get(FAR struct openloop_data_f32_s *op)
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{
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LIBDSP_DEBUGASSERT(op != NULL);
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return op->angle;
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}
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/* In a multipolar electrical machines, mechanical angle is not equal
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* to mechanical angle which can be described as:
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*
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* electrical angle = (p) * mechanical angle
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* where p - number of poles pair
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*
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*
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* electrical
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* angle:
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*
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* poles = 4
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* i = 0 1 2 3 0 1 2 3 0
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* 2PI ______________________________________________
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* /| /| /| /| /| /| /| /| /|
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* / | / | / | / | / | / | / | / | / |
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* / | / | / | / | / | / | / | / | / |
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* 0 /___|/___|/___|/___|/___|/___|/___|/___|/___|/
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* . . .
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* mechanical . . .
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* angle: . . .
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* . . .
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* 2PI .__________________.___________________.______
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* . o o
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* . o o o o
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* . o o o o
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* . o o o o o
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* 0 o__________________o___________________o______
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*
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*/
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/****************************************************************************
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* Name: motor_angle_init
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*
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* Description:
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* Initialize motor angle structure
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*
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* Input Parameters:
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* angle - (in/out) pointer to the motor angle structure
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* p - (in) number of the motor pole pairs
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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 motor_angle_init(FAR struct motor_angle_f32_s *angle, uint8_t p)
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{
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LIBDSP_DEBUGASSERT(angle != NULL);
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LIBDSP_DEBUGASSERT(p > 0);
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/* Reset structure */
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memset(angle, 0, sizeof(struct motor_angle_f32_s));
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/* Store pole pairs */
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angle->p = p;
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angle->one_by_p = (float)1.0f / p;
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/* Initialize angle with 0.0 */
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phase_angle_update(&angle->angle_el, 0.0f);
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}
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/****************************************************************************
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* Name: motor_angle_e_update
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*
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* Description:
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* Update motor angle structure using electrical motor angle.
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*
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* Input Parameters:
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* angle - (in/out) pointer to the motor angle structure
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* angle_new - (in) new motor electrical angle in range <0.0, 2PI>
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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 motor_angle_e_update(FAR struct motor_angle_f32_s *angle,
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float angle_new, float dir)
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{
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LIBDSP_DEBUGASSERT(angle != NULL);
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LIBDSP_DEBUGASSERT(angle_new >= 0.0f && angle_new <= MOTOR_ANGLE_E_MAX);
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LIBDSP_DEBUGASSERT(dir == DIR_CW || dir == DIR_CCW);
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/* Check if we crossed electrical angle boundaries */
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if (dir == DIR_CW)
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{
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/* For CW direction - previous angle is greater than current angle */
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if (angle_new - angle->angle_el.angle < -POLE_CNTR_THR)
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{
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angle->i += 1;
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}
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}
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else if (dir == DIR_CCW)
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{
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/* For CCW direction - previous angle is lower than current angle */
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if (angle_new - angle->angle_el.angle > POLE_CNTR_THR)
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{
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angle->i -= 1;
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}
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}
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/* Reset pole counter if needed */
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if (angle->i >= angle->p)
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{
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angle->i = 0;
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}
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else if (angle->i < 0)
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{
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angle->i = angle->p - 1;
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}
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/* Update electrical angle structure */
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phase_angle_update(&angle->angle_el, angle_new);
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/* Calculate mechanical angle.
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* One electrical angle rotation is equal to one mechanical rotation
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* divided by number of motor pole pairs.
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*/
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angle->anglem = (MOTOR_ANGLE_E_RANGE * angle->i +
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angle->angle_el.angle) * angle->one_by_p;
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/* Normalize mechanical angle to <0, 2PI> and store */
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angle_norm_2pi(&angle->anglem, MOTOR_ANGLE_M_MIN, MOTOR_ANGLE_M_MAX);
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}
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/****************************************************************************
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* Name: motor_angle_m_update
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*
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* Description:
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* Update motor angle structure using mechanical motor angle
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*
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* Input Parameters:
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* angle - (in/out) pointer to the motor angle structure
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* angle_new - (in) new motor mechanical angle in range <0.0, 2PI>
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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 motor_angle_m_update(FAR struct motor_angle_f32_s *angle,
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float angle_new, float dir)
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{
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LIBDSP_DEBUGASSERT(angle != NULL);
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LIBDSP_DEBUGASSERT(angle_new >= 0.0f && angle_new <= MOTOR_ANGLE_E_MAX);
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LIBDSP_DEBUGASSERT(dir == DIR_CW || dir == DIR_CCW);
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float angle_el = 0.0f;
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/* Store new mechanical angle */
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angle->anglem = angle_new;
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/* Update pole counter */
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angle->i = (uint8_t)(angle->anglem * angle->p / MOTOR_ANGLE_M_MAX);
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/* Get electrical angle */
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angle_el = angle->anglem * angle->p - MOTOR_ANGLE_E_MAX * angle->i;
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/* Update electrical angle structure */
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phase_angle_update(&angle->angle_el, angle_el);
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}
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/****************************************************************************
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* Name: motor_angle_m_get
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*
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* Description:
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* Get motor mechanical angle
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*
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* Input Parameters:
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* angle - (in/out) pointer to the motor angle structure
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*
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* Returned Value:
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* Return motor mechanical angle
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*
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****************************************************************************/
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float motor_angle_m_get(FAR struct motor_angle_f32_s *angle)
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{
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LIBDSP_DEBUGASSERT(angle != NULL);
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return angle->anglem;
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}
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/****************************************************************************
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* Name: motor_angle_e_get
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*
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* Description:
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* Get motor electrical angle
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*
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* Input Parameters:
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* angle - (in/out) pointer to the motor angle structure
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*
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* Returned Value:
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* Return motor electrical angle
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*
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****************************************************************************/
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float motor_angle_e_get(FAR struct motor_angle_f32_s *angle)
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{
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LIBDSP_DEBUGASSERT(angle != NULL);
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return angle->angle_el.angle;
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}
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/****************************************************************************
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* Name: motor_phy_params_init
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*
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* Description:
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* Initialize motor physical parameters
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*
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* Input Parameters:
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* phy - (in/out) pointer to the motor physical parameters
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* poles - (in) number of the motor pole pairs
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* res - (in) average phase-to-neutral base motor resistance
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* (without temperature compensation)
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* ind - (in) average phase-to-neutral motor inductance
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* flux - (in) flux linkage
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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 motor_phy_params_init(FAR struct motor_phy_params_f32_s *phy,
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uint8_t poles, float res, float ind,
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float flux_link)
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{
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LIBDSP_DEBUGASSERT(phy != NULL);
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memset(phy, 0, sizeof(struct motor_phy_params_f32_s));
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phy->p = poles;
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phy->flux_link = flux_link;
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phy->res = res;
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phy->ind = ind;
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phy->one_by_ind = (1.0f / ind);
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phy->one_by_p = (1.0f / poles);
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}
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/****************************************************************************
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* Name: pmsm_phy_params_init
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*
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* Description:
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* Initialize PMSM physical parameters
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*
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* Input Parameters:
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* phy - (in/out) pointer to the PMSM physical parameters
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* poles - (in) number of the motor pole pairs
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* res - (in) average phase-to-neutral base motor resistance
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* (without temperature compensation)
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* ind - (in) average phase-to-neutral motor inductance
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* iner - (in) rotor inertia (J)
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* flux - (in) flux linkage
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* ind_d - (in) d-inductance
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* ind_q - (in) q-inductance
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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 pmsm_phy_params_init(FAR struct pmsm_phy_params_f32_s *phy,
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uint8_t poles, float res, float ind,
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float iner, float flux,
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float ind_d, float ind_q)
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{
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LIBDSP_DEBUGASSERT(phy != NULL);
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/* Initialize motor phy */
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motor_phy_params_init(&phy->motor, poles, res, ind, flux);
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/* Iniitalize PMSM specific data */
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phy->iner = iner;
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phy->ind_d = ind_d;
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phy->ind_q = ind_q;
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phy->one_by_iner = (1.0f / iner);
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phy->one_by_indd = (1.0f / ind_d);
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phy->one_by_indq = (1.0f / ind_q);
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}
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