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dc servo support

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This commit is contained in:
Rene Hopf
2016-06-08 21:30:06 +02:00
parent 6d711adfb4
commit b703a9d52b
7 changed files with 112 additions and 36 deletions
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conf/e240.txt
+30
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@@ -0,0 +1,30 @@
conf0.r = 1.5
conf0.l = 0.0025
conf0.j = 0.00005
conf0.psi = 0.04774
conf0.polecount = 1
conf0.mot_type = 3
conf0.out_rev = 0.000000
conf0.max_vel = 837.75
conf0.max_acc = 83775
conf0.max_force = 2
conf0.max_dc_cur = 10
conf0.max_ac_cur = 6
conf0.fb_type = 1
conf0.fb_res = 2048
conf0.cmd_type = 1
conf0.cmd_res = 2000
conf0.p = 1
conf0.pos_p = 150
conf0.vel_p = 1
conf0.acc_p = 1
conf0.acc_pi = 100
conf0.cur_p = 0.5
conf0.cur_i = 0.001
conf0.cur_ff = 1
conf0.cur_ind = 0.9
conf0.max_sat = 0.2
shared/common.h
+2
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@@ -32,6 +32,7 @@ typedef struct{
int16_t dc_cur;
int16_t dc_volt;
int16_t hv_temp;
uint16_t status;
#ifdef TROLLER
int16_t a;
int16_t b;
@@ -43,6 +44,7 @@ typedef struct{
typedef struct{
int16_t a;
int16_t b;
uint16_t mode;
} to_hv_t;
typedef struct{
src/comps/hv.comp
+2
View File
@@ -2,6 +2,7 @@ HAL_COMP(hv);
HAL_PIN(a) = 0.0;
HAL_PIN(b) = 0.0;
HAL_PIN(mode) = 0.0;
HAL_PIN(enable) = 0.0;
HAL_PIN(error) = 0.0;
@@ -147,6 +148,7 @@ RT(
if(e > 0.0){
packet_to_hv.data.a = TOFIXED(a);
packet_to_hv.data.b = TOFIXED(b);
packet_to_hv.data.mode = PIN(mode);
}
else{
packet_to_hv.data.a = 0;
src/comps/term.comp
+1
View File
@@ -102,6 +102,7 @@ int load(){
//update cmd/fb links
update_cmd();
update_fb();
update_mot();
return 0;
}
src/link.c
+23 -1
View File
@@ -203,6 +203,28 @@ void link_pid(){
hal_link_pins("conf0.cos_offset", "adc0.cos_offset");
}
int update_mot(){
switch((mot_type_t)hal_get_pin("conf0.mot_type")){
case ACSYNC:
//TODO: copy acsync stuff from link_pid here
hal_link_pins("curpid0.uq", "idq0.q");
hal_set_pin("hv0.mode", 0.0);
break;
case ACASYNC:
break;
case AC2PHASE:
break;
case DC:
//TODO: implement proper dc model
hal_link_pins("curpid0.uq", "hv0.a");
hal_set_pin("hv0.mode", 1.0);
break;
default:
return -1;
}
return 0;
}
int update_fb(){
hal_set_pin("adc0.rt_prio", -1.0);
hal_set_pin("enc_fb0.rt_prio", -1.0);
@@ -280,7 +302,7 @@ int update_cmd(){
//this breaks cmd rev...
hal_link_pins("vel_int0.pos_out", "net0.cmd");
hal_link_pins("vel_int0.vel_out", "net0.cmd_d");
hal_linkpin("vel_int0.wd", 0.002);//TODO: this depends on linuxcnc servo thread period
hal_set_pin("vel_int0.wd", 0.002);//TODO: this depends on linuxcnc servo thread period
//TODO: handle error of vel_int
hal_set_pin("sserial0.rt_prio", 2.0);
hal_set_pin("sserial0.frt_prio", 2.0);
src/link.h
+8
View File
@@ -19,6 +19,14 @@ typedef enum{
SSI
} protocol_t;
typedef enum{
ACSYNC = 0,
ACASYNC,
AC2PHASE,
DC
} mot_type_t;
void link_pid();
int update_cmd();
int update_fb();
int update_mot();
stm32f103/src/main.c
+46 -35
View File
@@ -409,44 +409,55 @@ void USART2_IRQHandler(){
float ua = TOFLOAT(packet_to_hv.data.a);
float ub = TOFLOAT(packet_to_hv.data.b);
float u = ua; // inverse clarke
float v = - ua / 2.0 + ub / 2.0 * SQRT3;
float w = - ua / 2.0 - ub / 2.0 * SQRT3;
if(packet_to_hv.data.mode == 0){//a,b voltages
float u = ua; // inverse clarke
float v = - ua / 2.0 + ub / 2.0 * SQRT3;
float w = - ua / 2.0 - ub / 2.0 * SQRT3;
//TODO: clamping
u += volt / 2.0;
v += volt / 2.0;
w += volt / 2.0;
//TODO: clamping
u += volt / 2.0;
v += volt / 2.0;
w += volt / 2.0;
if(u < v){
if(u < w){
v -= u;
w -= u;
u = 0.0;
}
else{
u -= w;
v -= w;
w = 0.0;
}
}
else{
if(v < w){
u -= v;
w -= v;
v = 0.0;
}
else{
u -= w;
v -= w;
w = 0.0;
}
}
PWM_U = CLAMP(u / volt * PWM_RES, 0, PWM_RES * 0.95);
PWM_V = CLAMP(v / volt * PWM_RES, 0, PWM_RES * 0.95);
PWM_W = CLAMP(w / volt * PWM_RES, 0, PWM_RES * 0.95);
if(u < v){
if(u < w){
v -= u;
w -= u;
u = 0.0;
}
else{
u -= w;
v -= w;
w = 0.0;
}
}
else{
if(v < w){
u -= v;
w -= v;
v = 0.0;
}
else{
u -= w;
v -= w;
w = 0.0;
}
}
PWM_U = CLAMP(u / volt * PWM_RES, 0, PWM_RES * 0.95);
PWM_V = CLAMP(v / volt * PWM_RES, 0, PWM_RES * 0.95);
PWM_W = CLAMP(w / volt * PWM_RES, 0, PWM_RES * 0.95);
}else if(packet_to_hv.data.mode == 1){//DC, a: -dclink ... +dclink
ua += volt;
PWM_U = CLAMP(ua / (volt*2.0) * PWM_RES, 0, PWM_RES * 0.95);
PWM_V = CLAMP((1.0 - (ua / (volt*2.0))) * PWM_RES, 0, PWM_RES * 0.95);
PWM_W = 0;
}else{
PWM_U = 0;
PWM_V = 0;
PWM_W = 0;
}
timeout = 0; //reset timeout
}
}