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libdsp/lib_observer.c: separate angle observer from speed observer

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They can be used completely independently, so they should'n be coupled.
For example, a sensored motor controller in speed control mode doesn't need an angle estimator.
This commit is contained in:
raiden00pl
2021-08-25 11:15:09 +02:00
committed by Xiang Xiao
parent fd8b087012
commit 26f1be27dd
2 changed files with 117 additions and 67 deletions
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include/dsp.h
+33 -24
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@@ -257,25 +257,31 @@ struct openloop_data_f32_s
float per; /* Open-loop control execution period */
};
/* Common motor observer structure */
/* Common motor speed observer structure */
struct motor_observer_f32_s
struct motor_sobserver_f32_s
{
float angle; /* Estimated observer angle */
float speed; /* Estimated observer speed */
float per; /* Observer execution period */
float angle_err; /* Observer angle error.
* This can be used to gradually eliminate
* error between openloop angle and observer
* angle
*/
/* There are different types of motor observers which different
* sets of private data.
*/
void *so; /* Speed estimation observer data */
};
/* Common motor angle observer structure */
struct motor_aobserver_f32_s
{
float angle; /* Estimated observer angle */
float per; /* Observer execution period */
/* There are different types of motor observers which different
* sets of private data.
*/
void *ao; /* Angle estimation observer data */
};
@@ -303,7 +309,7 @@ struct motor_sobserver_pll_f32_s
/* Motor Sliding Mode Observer private data */
struct motor_observer_smo_f32_s
struct motor_aobserver_smo_f32_s
{
float k_slide; /* Bang-bang controller gain */
float err_max; /* Linear mode threshold */
@@ -323,7 +329,7 @@ struct motor_observer_smo_f32_s
/* Motor Nonlinear FluxLink Observer private data */
struct motor_observer_nfo_f32_s
struct motor_aobserver_nfo_f32_s
{
float x1;
float x2;
@@ -529,30 +535,33 @@ void foc_vdq_mag_max_get(FAR struct foc_data_f32_s *foc, FAR float *max);
/* BLDC/PMSM motor observers */
void motor_observer_init(FAR struct motor_observer_f32_s *observer,
FAR void *ao, FAR void *so, float per);
float motor_observer_speed_get(FAR struct motor_observer_f32_s *o);
float motor_observer_angle_get(FAR struct motor_observer_f32_s *o);
void motor_sobserver_init(FAR struct motor_sobserver_f32_s *observer,
FAR void *so, float per);
void motor_aobserver_init(FAR struct motor_aobserver_f32_s *observer,
FAR void *ao, float per);
float motor_sobserver_speed_get(FAR struct motor_sobserver_f32_s *o);
float motor_aobserver_angle_get(FAR struct motor_aobserver_f32_s *o);
void motor_observer_smo_init(FAR struct motor_observer_smo_f32_s *smo,
float kslide, float err_max);
void motor_observer_smo(FAR struct motor_observer_f32_s *o,
FAR ab_frame_f32_t *i_ab, FAR ab_frame_f32_t *v_ab,
FAR struct motor_phy_params_f32_s *phy, float dir);
void motor_aobserver_smo_init(FAR struct motor_aobserver_smo_f32_s *smo,
float kslide, float err_max);
void motor_aobserver_smo(FAR struct motor_aobserver_f32_s *o,
FAR ab_frame_f32_t *i_ab, FAR ab_frame_f32_t *v_ab,
FAR struct motor_phy_params_f32_s *phy, float dir,
float speed);
void motor_sobserver_div_init(FAR struct motor_sobserver_div_f32_s *so,
uint8_t samples, float filer, float per);
void motor_sobserver_div(FAR struct motor_observer_f32_s *o,
void motor_sobserver_div(FAR struct motor_sobserver_f32_s *o,
float angle, float dir);
void motor_observer_nfo_init(FAR struct motor_observer_nfo_f32_s *nfo);
void motor_observer_nfo(FAR struct motor_observer_f32_s *o,
void motor_aobserver_nfo_init(FAR struct motor_aobserver_nfo_f32_s *nfo);
void motor_aobserver_nfo(FAR struct motor_aobserver_f32_s *o,
FAR ab_frame_f32_t *i_ab, FAR ab_frame_f32_t *v_ab,
FAR struct motor_phy_params_f32_s *phy, float gain);
void motor_sobserver_pll_init(FAR struct motor_sobserver_pll_f32_s *so,
float pll_kp, float pll_ki);
void motor_sobserver_pll(FAR struct motor_observer_f32_s *o,
void motor_sobserver_pll(FAR struct motor_sobserver_f32_s *o,
float angle, float dir);
/* Motor openloop control */