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libdsp/lib_foc.c: use better PI wind-up protection; add interface to run voltage controller without current controller; add separate interfaces to update base voltage and phase angle

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This commit is contained in:
raiden00pl
2021-03-01 19:41:38 +01:00
committed by Xiang Xiao
parent 4ad8f85555
commit ee97eab4e7
2 changed files with 291 additions and 76 deletions
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include/dsp.h
+36 -16
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@@ -329,31 +329,43 @@ struct motor_phy_params_f32_s
float one_by_ind; /* Inverse phase-to-neutral inductance */
};
/* Field oriented control (FOC) data
* REVISIT:
*/
/* FOC initialize data */
struct foc_initdata_f32_s
{
float id_kp; /* KP for d current */
float id_ki; /* KI for d current */
float iq_kp; /* KP for q current */
float iq_ki; /* KI for q current */
};
/* Field Oriented Control (FOC) data */
struct foc_data_f32_s
{
abc_frame_f32_t v_abc; /* Voltage in ABC frame */
ab_frame_f32_t v_ab; /* Voltage in alpha-beta frame */
dq_frame_f32_t v_dq; /* Voltage in dq frame */
dq_frame_f32_t v_dq; /* Requested voltage in dq frame */
ab_frame_f32_t v_ab_mod; /* Modulation voltage normalized to
* magnitude (0.0, 1.0)
*/
abc_frame_f32_t i_abc; /* Current in ABC frame */
ab_frame_f32_t i_ab; /* Current in apha-beta frame */
ab_frame_f32_t i_ab; /* Current in alpha-beta frame */
dq_frame_f32_t i_dq; /* Current in dq frame */
dq_frame_f32_t i_dq_err; /* DQ current error */
dq_frame_f32_t i_dq_ref; /* Current dq reference frame */
dq_frame_f32_t i_dq_ref; /* Requested current for the FOC
* current controler
*/
pid_controller_f32_t id_pid; /* Current d-axis component PI controller */
pid_controller_f32_t iq_pid; /* Current q-axis component PI controller */
pid_controller_f32_t id_pid; /* Current d-axis component PI controller */
pid_controller_f32_t iq_pid; /* Current q-axis component PI controller */
float vdq_mag_max; /* Maximum dq voltage magnitude */
float vab_mod_scale; /* Voltage alpha-beta modulation scale */
phase_angle_f32_t angle; /* Phase angle */
};
/****************************************************************************
@@ -423,16 +435,24 @@ void svm3(FAR struct svm3_state_f32_s *s, FAR ab_frame_f32_t *ab);
void svm3_current_correct(FAR struct svm3_state_f32_s *s,
float *c0, float *c1, float *c2);
/* Field Oriented control */
/* Field Oriented Control */
void foc_init(FAR struct foc_data_f32_s *foc,
FAR struct foc_initdata_f32_s *init);
void foc_vbase_update(FAR struct foc_data_f32_s *foc, float vbase);
void foc_idq_ref_set(FAR struct foc_data_f32_s *data, float d, float q);
void foc_init(FAR struct foc_data_f32_s *data,
float id_kp, float id_ki, float iq_kp, float iq_ki);
void foc_process(FAR struct foc_data_f32_s *foc,
FAR abc_frame_f32_t *i_abc,
FAR phase_angle_f32_t *angle);
void foc_angle_update(FAR struct foc_data_f32_s *foc,
FAR phase_angle_f32_t *angle);
void foc_iabc_update(FAR struct foc_data_f32_s *foc,
FAR abc_frame_f32_t *i_abc);
void foc_voltage_control(FAR struct foc_data_f32_s *foc,
FAR dq_frame_f32_t *vdq_ref);
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 *v_dq_ref);
void foc_vabmod_get(FAR struct foc_data_f32_s *foc,
FAR ab_frame_f32_t *v_ab_mod);
void foc_vdq_mag_max_get(FAR struct foc_data_f32_s *foc, FAR float *max);
/* BLDC/PMSM motor observers */