464 lines
12 KiB
C
464 lines
12 KiB
C
/****************************************************************************
|
|
* libs/libdsp/lib_foc.c
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*
|
|
* 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <dsp.h>
|
|
#include <string.h>
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_current_controller
|
|
*
|
|
* Description:
|
|
* This function implements FOC current controller algorithm.
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* v_dq_req - (in) pointer to the voltage DQ request frame
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_current_controller(FAR struct foc_data_f32_s *foc,
|
|
FAR dq_frame_f32_t *v_dq_req)
|
|
{
|
|
FAR pid_controller_f32_t *id_pid = &foc->id_pid;
|
|
FAR pid_controller_f32_t *iq_pid = &foc->iq_pid;
|
|
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
LIBDSP_DEBUGASSERT(v_dq_req != NULL);
|
|
|
|
/* Get dq current error */
|
|
|
|
foc->i_dq_err.d = foc->i_dq_ref.d - foc->i_dq.d;
|
|
foc->i_dq_err.q = foc->i_dq_ref.q - foc->i_dq.q;
|
|
|
|
/* NOTE: PI controllers saturation is updated in foc_vdq_mag_max_set() */
|
|
|
|
/* PI controller for d-current (flux loop) */
|
|
|
|
v_dq_req->d = pi_controller(id_pid, foc->i_dq_err.d);
|
|
|
|
/* PI controller for q-current (torque loop) */
|
|
|
|
v_dq_req->q = pi_controller(iq_pid, foc->i_dq_err.q);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_vab_mod_scale_set
|
|
*
|
|
* Description:
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* scale - (in) scaling factor for alpha-beta voltage
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_vab_mod_scale_set(FAR struct foc_data_f32_s *foc,
|
|
float scale)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
|
|
foc->vab_mod_scale = scale;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_vdq_mag_max_set
|
|
*
|
|
* Description:
|
|
* Set maximum dq voltage vector magnitude
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* max - (in) maximum dq voltage magnitude
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_vdq_mag_max_set(FAR struct foc_data_f32_s *foc, float max)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
|
|
foc->vdq_mag_max = max;
|
|
|
|
/* Update regulators saturation */
|
|
|
|
pi_saturation_set(&foc->id_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
|
|
pi_saturation_set(&foc->iq_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_vdq_ref_set
|
|
*
|
|
* Description:
|
|
* Set dq requested voltage vector
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* vdq_ref - (in) pointer to the requested idq voltage
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_vdq_ref_set(FAR struct foc_data_f32_s *foc,
|
|
FAR dq_frame_f32_t *vdq_ref)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
LIBDSP_DEBUGASSERT(vdq_ref != NULL);
|
|
|
|
foc->v_dq.d = vdq_ref->d;
|
|
foc->v_dq.q = vdq_ref->q;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_idq_ref_set
|
|
*
|
|
* Description:
|
|
* Set dq reference current vector
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* idq_ref - (in) pointer to the reference idq current
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_idq_ref_set(FAR struct foc_data_f32_s *foc,
|
|
FAR dq_frame_f32_t *idq_ref)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
LIBDSP_DEBUGASSERT(idq_ref != NULL);
|
|
|
|
foc->i_dq_ref.d = idq_ref->d;
|
|
foc->i_dq_ref.q = idq_ref->q;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_init
|
|
*
|
|
* Description:
|
|
* Initialize FOC controller
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* init - (in) pointer to the FOC initialization data
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_init(FAR struct foc_data_f32_s *foc,
|
|
FAR struct foc_initdata_f32_s *init)
|
|
{
|
|
/* Reset data */
|
|
|
|
memset(foc, 0, sizeof(struct foc_data_f32_s));
|
|
|
|
/* Initialize PI current d component */
|
|
|
|
pi_controller_init(&foc->id_pid, init->id_kp, init->id_ki);
|
|
|
|
/* Initialize PI current q component */
|
|
|
|
pi_controller_init(&foc->iq_pid, init->iq_kp, init->iq_ki);
|
|
|
|
/* Disable PI intergral part reset when saturated */
|
|
|
|
pi_ireset_enable(&foc->iq_pid, false);
|
|
pi_ireset_enable(&foc->id_pid, false);
|
|
|
|
/* Enable PI anti-windup protection */
|
|
|
|
pi_antiwindup_enable(&foc->iq_pid, 0.99, true);
|
|
pi_antiwindup_enable(&foc->id_pid, 0.99, true);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_vbase_update
|
|
*
|
|
* Description:
|
|
* Update base voltage for FOC controller
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* vbase - (in) base voltage for FOC
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_vbase_update(FAR struct foc_data_f32_s *foc, float vbase)
|
|
{
|
|
float scale = 0.0f;
|
|
float mag_max = 0.0f;
|
|
|
|
/* Prevent division by zero */
|
|
|
|
if (vbase < 1e-10f)
|
|
{
|
|
vbase = 1e-10f;
|
|
}
|
|
|
|
/* NOTE: this is base voltage for FOC, not bus voltage! */
|
|
|
|
scale = (1.0f / vbase);
|
|
mag_max = vbase;
|
|
|
|
/* Update */
|
|
|
|
foc_vab_mod_scale_set(foc, scale);
|
|
foc_vdq_mag_max_set(foc, mag_max);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_angle_update
|
|
*
|
|
* Description:
|
|
* Update FOC data with new motor phase angle.
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* angle - (in) pointer to the phase angle data
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_angle_update(FAR struct foc_data_f32_s *foc,
|
|
FAR phase_angle_f32_t *angle)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
LIBDSP_DEBUGASSERT(angle != NULL);
|
|
|
|
/* Copy angle to foc data */
|
|
|
|
foc->angle.angle = angle->angle;
|
|
foc->angle.sin = angle->sin;
|
|
foc->angle.cos = angle->cos;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_iabc_update
|
|
*
|
|
* Description:
|
|
* Update FOC data with new iabc frame.
|
|
*
|
|
* To work properly this function requires some additional steps:
|
|
* 1. phase angle must be set with foc_angle_update()
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* i_abc - (in) pointer to the ABC current frame
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_iabc_update(FAR struct foc_data_f32_s *foc,
|
|
FAR abc_frame_f32_t *i_abc)
|
|
{
|
|
dq_frame_f32_t i_dq;
|
|
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
LIBDSP_DEBUGASSERT(i_abc != NULL);
|
|
|
|
/* Reset data */
|
|
|
|
i_dq.d = 0;
|
|
i_dq.q = 0;
|
|
|
|
/* Copy ABC current to foc data */
|
|
|
|
foc->i_abc.a = i_abc->a;
|
|
foc->i_abc.b = i_abc->b;
|
|
foc->i_abc.c = i_abc->c;
|
|
|
|
/* Convert abc current to alpha-beta current */
|
|
|
|
clarke_transform(&foc->i_abc, &foc->i_ab);
|
|
|
|
/* Convert alpha-beta current to dq current */
|
|
|
|
park_transform(&foc->angle, &foc->i_ab, &i_dq);
|
|
|
|
/* Store dq current */
|
|
|
|
foc->i_dq.d = i_dq.d;
|
|
foc->i_dq.q = i_dq.q;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_voltage_control
|
|
*
|
|
* Description:
|
|
* Process FOC voltage control.
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* vdq_ref - (in) voltage dq reference frame
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_voltage_control(FAR struct foc_data_f32_s *foc,
|
|
FAR dq_frame_f32_t *vdq_ref)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
|
|
/* Update VDQ request */
|
|
|
|
foc_vdq_ref_set(foc, vdq_ref);
|
|
|
|
/* Inverse Park transform (voltage dq -> voltage alpha-beta) */
|
|
|
|
inv_park_transform(&foc->angle, &foc->v_dq, &foc->v_ab);
|
|
|
|
#ifdef CONFIG_LIBDSP_FOC_VABC
|
|
/* Inverse Clarke transform (voltage alpha-beta -> voltage abc) */
|
|
|
|
inv_clarke_transform(&foc->v_ab, &foc->v_abc);
|
|
#endif
|
|
|
|
/* Normalize the alpha-beta voltage to get the alpha-beta modulation
|
|
* voltage
|
|
*/
|
|
|
|
foc->v_ab_mod.a = foc->v_ab.a * foc->vab_mod_scale;
|
|
foc->v_ab_mod.b = foc->v_ab.b * foc->vab_mod_scale;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_current_control
|
|
*
|
|
* Description:
|
|
* Process FOC current control.
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* idq_ref - (in) current dq reference frame
|
|
* vdq_comp - (in) voltage dq compensation frame
|
|
* vdq_ref - (out) voltage dq reference frame
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
* TODO: add some reference and a brief description of the FOC
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_current_control(FAR struct foc_data_f32_s *foc,
|
|
FAR dq_frame_f32_t *idq_ref,
|
|
FAR dq_frame_f32_t *vdq_comp,
|
|
FAR dq_frame_f32_t *vdq_ref)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
|
|
/* Update IDQ reference */
|
|
|
|
foc_idq_ref_set(foc, idq_ref);
|
|
|
|
/* Run FOC current controller (current dq -> voltage dq) */
|
|
|
|
foc_current_controller(foc, vdq_ref);
|
|
|
|
/* DQ voltage compensation */
|
|
|
|
vdq_ref->d = vdq_ref->d - vdq_comp->d;
|
|
vdq_ref->q = vdq_ref->q - vdq_comp->q;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_vabmod_get
|
|
*
|
|
* Description:
|
|
* Get result from the FOC controller (foc_current_control or
|
|
* foc_voltage_control)
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* v_ab_mod - (out) pointer to the voltage alpha-beta modulation frame
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_vabmod_get(FAR struct foc_data_f32_s *foc,
|
|
FAR ab_frame_f32_t *v_ab_mod)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
LIBDSP_DEBUGASSERT(v_ab_mod != NULL);
|
|
|
|
v_ab_mod->a = foc->v_ab_mod.a;
|
|
v_ab_mod->b = foc->v_ab_mod.b;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_vdq_mag_max_get
|
|
*
|
|
* Description:
|
|
* Get maximum dq voltage vector magnitude
|
|
*
|
|
* Input Parameters:
|
|
* foc - (in/out) pointer to the FOC data
|
|
* max - (out) maximum dq voltage magnitude
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_vdq_mag_max_get(FAR struct foc_data_f32_s *foc, FAR float *max)
|
|
{
|
|
LIBDSP_DEBUGASSERT(foc != NULL);
|
|
|
|
*max = foc->vdq_mag_max;
|
|
}
|