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Field weakening updates

This commit is contained in:
Benjamin Vedder 2021-04-11 11:31:25 +02:00
parent dfc42defb1
commit 1469e2568d
1 changed files with 26 additions and 3 deletions
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29
mcpwm_foc.c
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@ -117,6 +117,7 @@ typedef struct {
float m_id_set;
float m_iq_set;
float m_i_fw_set;
float m_fw_mod_delay;
float m_openloop_speed;
float m_openloop_phase;
bool m_output_on;
@ -204,6 +205,7 @@ static float correct_encoder(float obs_angle, float enc_angle, float speed, floa
static float correct_hall(float angle, float dt, volatile motor_all_state_t *motor);
static void terminal_tmp(int argc, const char **argv);
static void terminal_plot_hfi(int argc, const char **argv);
static void run_fw(volatile motor_all_state_t *motor, float dt);
static void timer_update(volatile motor_all_state_t *motor, float dt);
static void input_current_offset_measurement( void );
static void hfi_update(volatile motor_all_state_t *motor);
@ -2769,6 +2771,8 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
iq_set_tmp = SIGN(iq_set_tmp) * sqrtf(SQ(iq_set_tmp) - SQ(id_set_tmp));
}
// Running FW from the 1 khz timer seems fast enough.
// run_fw(motor_now, dt);
id_set_tmp -= motor_now->m_i_fw_set;
// Apply current limits
@ -2993,12 +2997,16 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
// Private functions
static void timer_update(volatile motor_all_state_t *motor, float dt) {
static void run_fw(volatile motor_all_state_t *motor, float dt) {
if (motor->m_conf->foc_fw_current_max < motor->m_conf->cc_min_current) {
return;
}
// Field Weakening
// FW is used in the current and speed control modes. If a different mode is used
// this code also runs if field weakening was active before. This allows
// changing control mode even while in field weakening.
if (!motor->m_phase_override && motor->m_state == MC_STATE_RUNNING &&
if (motor->m_state == MC_STATE_RUNNING &&
(motor->m_control_mode == CONTROL_MODE_CURRENT ||
motor->m_control_mode == CONTROL_MODE_CURRENT_BRAKE ||
motor->m_control_mode == CONTROL_MODE_SPEED ||
@ -3012,6 +3020,14 @@ static void timer_update(volatile motor_all_state_t *motor, float dt) {
motor->m_conf->foc_fw_duty_start * motor->m_conf->l_max_duty,
motor->m_conf->l_max_duty,
0.0, motor->m_conf->foc_fw_current_max);
// m_fw_mod_delay is used to not stop the modulation too soon after leaving FW. If axis decoupling
// is not working properly an oscillation can occur on the modulation when changing the current
// fast, which can make the estimated duty cycle drop below the FW threshold long enough to stop
// modulation. When that happens the body diodes in the MOSFETs can see a lot of current and unexpected
// braking happens. Therefore the modulation is left on for some time after leaving FW to give the
// oscillation a chance to decay while the MOSFETs are still driven.
motor->m_fw_mod_delay = 1.0;
}
if (motor->m_conf->foc_fw_ramp_time < dt) {
@ -3021,6 +3037,12 @@ static void timer_update(volatile motor_all_state_t *motor, float dt) {
(dt / motor->m_conf->foc_fw_ramp_time) * motor->m_conf->foc_fw_current_max);
}
}
}
static void timer_update(volatile motor_all_state_t *motor, float dt) {
run_fw(motor, dt);
utils_step_towards((float*)&motor->m_fw_mod_delay, 0.0, dt);
// Check if it is time to stop the modulation. Notice that modulation is kept on as long as there is
// field weakening current.
@ -3031,7 +3053,8 @@ static void timer_update(volatile motor_all_state_t *motor, float dt) {
motor->m_control_mode == CONTROL_MODE_OPENLOOP ||
motor->m_control_mode == CONTROL_MODE_OPENLOOP_PHASE)) {
if (fabsf(motor->m_iq_set) < motor->m_conf->cc_min_current &&
motor->m_i_fw_set < motor->m_conf->cc_min_current) {
motor->m_i_fw_set < motor->m_conf->cc_min_current &&
motor->m_fw_mod_delay < dt) {
motor->m_control_mode = CONTROL_MODE_NONE;
motor->m_state = MC_STATE_OFF;
stop_pwm_hw(motor);