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implement measure phase inductance

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This commit is contained in:
Oskar Weigl
2016-12-08 00:47:50 +09:00
parent 901f0b1e8d
commit c3ebe80452
1 changed files with 43 additions and 4 deletions
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MotorControl/low_level.c
+43 -4
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@@ -359,14 +359,43 @@ static float measure_phase_resistance(Motor_t* motor, float test_current, float
}
//De-energize motor
set_timings(&motors[0], 0.5f, 0.5f, 0.5f);;
set_timings(&motors[0], 0.5f, 0.5f, 0.5f);
float phase_resistance = test_voltage / test_current;
return phase_resistance;
}
static float measure_phase_inductance(Motor_t* motor, float voltage_low, float voltage_high) {
float test_voltages[2] = {voltage_low, voltage_high};
float Ialphas[2] = {0.0f};
static const int num_cycles = 10000;
for (int t = 0; t < num_cycles; ++t) {
for (int i = 0; i < 2; ++i) {
float phB_current, phC_current;
wait_for_current_meas(motor, &phB_current, &phC_current);
Ialphas[i] += -phB_current - phC_current;
float mod = test_voltages[i] / ((2.0f / 3.0f) * vbus_voltage);
float tA, tB, tC;
//Test voltage along phase A
SVM(mod, 0.0f, &tA, &tB, &tC);
//Check that we are still up-counting
safe_assert(!check_timing());
// Wait until down-counting
// @TODO: Do not block like this, use interrupt on timer update
// this will NOT work with 2 motors!
while(!(htim1.Instance->CR1 & TIM_CR1_DIR));
set_timings(motor, tA, tB, tC);
}
}
float delta_v = voltage_high - voltage_low;
float dI_by_dt = (Ialphas[1] - Ialphas[0]) / (CURRENT_MEAS_PERIOD * (float)num_cycles);
float L = delta_v / dI_by_dt;
return L;
}
//Set the rising edge timings (0.0 - 1.0)
@@ -405,9 +434,15 @@ static void square_wave_test(Motor_t* motor) {
float tA, tB, tC;
//Test voltage along phase A
SVM(mod, 0.0f, &tA, &tB, &tC);
set_timings(motor, tA, tB, tC);
//Check that we are still up-counting
safe_assert(!check_timing());
// Wait until down-counting
// @TODO: Do not block like this, use interrupt on timer update
// this will NOT work with 2 motors!
while(!(htim1.Instance->CR1 & TIM_CR1_DIR));
set_timings(motor, tA, tB, tC);
}
}
++cycle_num;
@@ -446,6 +481,10 @@ void motor_thread(void const * argument) {
float test_current = 3.0f;
float R = measure_phase_resistance(&motors[0], test_current, 1.0f);
// scan_motor(&motors[0], 10.0f, test_current * R);
square_wave_test(&motors[0]);
// square_wave_test(&motors[0]);
measure_phase_inductance(&motors[0], 0.2f, 1.0f);
//De-energize motor
set_timings(&motors[0], 0.5f, 0.5f, 0.5f);
}