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incubator-nuttx/libs/libdsp/lib_foc_b16.c

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/****************************************************************************
* libs/libdsp/lib_foc_b16.c
*
* 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 <string.h>
#include <stdbool.h>
#include <dspb16.h>
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: foc_current_controller_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR dq_frame_b16_t *v_dq_req)
{
FAR pid_controller_b16_t *id_pid = &foc->id_pid;
FAR pid_controller_b16_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_b16(id_pid, foc->i_dq_err.d);
/* PI controller for q-current (torque loop) */
v_dq_req->q = pi_controller_b16(iq_pid, foc->i_dq_err.q);
}
/****************************************************************************
* Name: foc_vab_mod_scale_set_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
b16_t scale)
{
LIBDSP_DEBUGASSERT(foc != NULL);
foc->vab_mod_scale = scale;
}
/****************************************************************************
* Name: foc_vdq_mag_max_set_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
b16_t max)
{
LIBDSP_DEBUGASSERT(foc != NULL);
foc->vdq_mag_max = max;
/* Update regulators saturation */
pi_saturation_set_b16(&foc->id_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
pi_saturation_set_b16(&foc->iq_pid, -foc->vdq_mag_max, foc->vdq_mag_max);
}
/****************************************************************************
* Name: foc_vdq_ref_set_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR dq_frame_b16_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_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR dq_frame_b16_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_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR struct foc_initdata_b16_s *init)
{
/* Reset data */
memset(foc, 0, sizeof(struct foc_data_b16_s));
/* Initialize PI current d component */
pi_controller_init_b16(&foc->id_pid, init->id_kp, init->id_ki);
/* Initialize PI current q component */
pi_controller_init_b16(&foc->iq_pid, init->iq_kp, init->iq_ki);
/* Disable PI intergral part reset when saturated */
pi_ireset_enable_b16(&foc->iq_pid, false);
pi_ireset_enable_b16(&foc->id_pid, false);
/* Enable PI anti-windup protection */
pi_antiwindup_enable_b16(&foc->iq_pid, ftob16(0.99f), true);
pi_antiwindup_enable_b16(&foc->id_pid, ftob16(0.99f), true);
}
/****************************************************************************
* Name: foc_vbase_update_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc, b16_t vbase)
{
b16_t scale = 0;
b16_t mag_max = 0;
/* Prevent division by zero */
if (vbase < 1)
{
vbase = 1;
}
/* NOTE: this is base voltage for FOC, not bus voltage! */
scale = b16divb16(b16ONE, vbase);
mag_max = vbase;
/* Update */
foc_vab_mod_scale_set_b16(foc, scale);
foc_vdq_mag_max_set_b16(foc, mag_max);
}
/****************************************************************************
* Name: foc_angle_update_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR phase_angle_b16_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_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR abc_frame_b16_t *i_abc)
{
dq_frame_b16_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_b16(&foc->i_abc, &foc->i_ab);
/* Convert alpha-beta current to dq current */
park_transform_b16(&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_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR dq_frame_b16_t *vdq_ref)
{
LIBDSP_DEBUGASSERT(foc != NULL);
/* Update VDQ request */
foc_vdq_ref_set_b16(foc, vdq_ref);
/* Inverse Park transform (voltage dq -> voltage alpha-beta) */
inv_park_transform_b16(&foc->angle, &foc->v_dq, &foc->v_ab);
#ifdef CONFIG_LIBDSP_FOC_VABC
/* Inverse Clarke transform (voltage alpha-beta -> voltage abc) */
inv_clarke_transform_b16(&foc->v_ab, &foc->v_abc);
#endif
/* Normalize the alpha-beta voltage to get the alpha-beta modulation
* voltage
*/
foc->v_ab_mod.a = b16mulb16(foc->v_ab.a, foc->vab_mod_scale);
foc->v_ab_mod.b = b16mulb16(foc->v_ab.b, foc->vab_mod_scale);
}
/****************************************************************************
* Name: foc_current_control_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR dq_frame_b16_t *idq_ref,
FAR dq_frame_b16_t *vdq_comp,
FAR dq_frame_b16_t *vdq_ref)
{
LIBDSP_DEBUGASSERT(foc != NULL);
/* Update IDQ reference */
foc_idq_ref_set_b16(foc, idq_ref);
/* Run FOC current controller (current dq -> voltage dq) */
foc_current_controller_b16(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_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc,
FAR ab_frame_b16_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_b16
*
* 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_b16(FAR struct foc_data_b16_s *foc, FAR b16_t *max)
{
LIBDSP_DEBUGASSERT(foc != NULL);
*max = foc->vdq_mag_max;
}
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