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66 lines
2.5 KiB
C++
66 lines
2.5 KiB
C++
#ifndef __FOC_HPP
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#define __FOC_HPP
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#include "phase_control_law.hpp"
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#include "component.hpp"
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/**
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* @brief Field oriented controller.
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*
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* This controller can run in either current control mode or voltage control
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* mode.
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*/
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class FieldOrientedController : public AlphaBetaFrameController, public ComponentBase {
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public:
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void update(uint32_t timestamp) final;
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void reset() final;
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ODriveIntf::MotorIntf::Error on_measurement(
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std::optional<float> vbus_voltage,
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std::optional<float2D> Ialpha_beta,
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uint32_t input_timestamp) final;
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ODriveIntf::MotorIntf::Error get_alpha_beta_output(
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uint32_t output_timestamp,
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std::optional<float2D>* mod_alpha_beta,
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std::optional<float>* ibus) final;
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// Config - these values are set while this controller is inactive
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std::optional<float2D> pi_gains_; // [V/A, V/As] should be auto set after resistance and inductance measurement
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float I_measured_report_filter_k_ = 1.0f;
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// Inputs
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bool enable_current_control_src_ = false;
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InputPort<float2D> Idq_setpoint_src_;
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InputPort<float2D> Vdq_setpoint_src_;
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InputPort<float> phase_src_;
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InputPort<float> phase_vel_src_;
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// These values are set atomically by the update() function and read by the
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// calculate() function in an interrupt context.
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uint32_t ctrl_timestamp_; // [HCLK ticks]
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bool enable_current_control_ = false; // true: FOC runs in current control mode using I{dq}_setpoint, false: FOC runs in voltage control mode using V{dq}_setpoint
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std::optional<float2D> Idq_setpoint_; // [A] only used if enable_current_control_ == true
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std::optional<float2D> Vdq_setpoint_; // [V] feed-forward voltage term (or standalone setpoint if enable_current_control_ == false)
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std::optional<float> phase_; // [rad]
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std::optional<float> phase_vel_; // [rad/s]
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// These values (or some of them) are updated inside on_measurement() and get_alpha_beta_output()
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uint32_t i_timestamp_;
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std::optional<float> vbus_voltage_measured_; // [V]
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std::optional<float2D> Ialpha_beta_measured_; // [A, A]
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float Id_measured_; // [A]
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float Iq_measured_; // [A]
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float v_current_control_integral_d_ = 0.0f; // [V]
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float v_current_control_integral_q_ = 0.0f; // [V]
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//float mod_to_V_ = 0.0f;
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//float mod_d_ = 0.0f;
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//float mod_q_ = 0.0f;
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//float ibus_ = 0.0f;
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float final_v_alpha_ = 0.0f; // [V]
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float final_v_beta_ = 0.0f; // [V]
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float power_ = 0.0f; // [W] dot product of Vdq and Idq
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};
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#endif // __FOC_HPP
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