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Add MTPA support 

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
This commit is contained in:
Marcos Chaparro 2020-04-30 18:34:29 -03:00
parent b1915b06a7
commit 42926d530e
5 changed files with 23 additions and 2 deletions
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3
confgenerator.c
View File

@ -72,6 +72,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
buffer_append_float32_auto(buffer, conf->foc_pll_kp, &ind);
buffer_append_float32_auto(buffer, conf->foc_pll_ki, &ind);
buffer_append_float32_auto(buffer, conf->foc_motor_l, &ind);
buffer_append_float32_auto(buffer, conf->foc_motor_ld_lq_diff, &ind);
buffer_append_float32_auto(buffer, conf->foc_motor_r, &ind);
buffer_append_float32_auto(buffer, conf->foc_motor_flux_linkage, &ind);
buffer_append_float32_auto(buffer, conf->foc_observer_gain, &ind);
@ -365,6 +366,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
conf->foc_pll_kp = buffer_get_float32_auto(buffer, &ind);
conf->foc_pll_ki = buffer_get_float32_auto(buffer, &ind);
conf->foc_motor_l = buffer_get_float32_auto(buffer, &ind);
conf->foc_motor_ld_lq_diff = buffer_get_float32_auto(buffer, &ind);
conf->foc_motor_r = buffer_get_float32_auto(buffer, &ind);
conf->foc_motor_flux_linkage = buffer_get_float32_auto(buffer, &ind);
conf->foc_observer_gain = buffer_get_float32_auto(buffer, &ind);
@ -654,6 +656,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
conf->foc_pll_kp = MCCONF_FOC_PLL_KP;
conf->foc_pll_ki = MCCONF_FOC_PLL_KI;
conf->foc_motor_l = MCCONF_FOC_MOTOR_L;
conf->foc_motor_ld_lq_diff = MCCONF_FOC_MOTOR_LD_LQ_DIFF;
conf->foc_motor_r = MCCONF_FOC_MOTOR_R;
conf->foc_motor_flux_linkage = MCCONF_FOC_MOTOR_FLUX_LINKAGE;
conf->foc_observer_gain = MCCONF_FOC_OBSERVER_GAIN;

4
confgenerator.h
View File

@ -8,8 +8,8 @@
#include <stdbool.h>
// Constants
#define MCCONF_SIGNATURE 1775793947
#define APPCONF_SIGNATURE 2662993821
#define MCCONF_SIGNATURE 2013508732
#define APPCONF_SIGNATURE 2460147246
// Functions
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

1
datatypes.h
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@ -277,6 +277,7 @@ typedef struct {
float foc_encoder_cos_gain;
float foc_encoder_sincos_filter_constant;
float foc_motor_l;
float foc_motor_ld_lq_diff;
float foc_motor_r;
float foc_motor_flux_linkage;
float foc_observer_gain;

3
mcconf/mcconf_default.h
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@ -263,6 +263,9 @@
#ifndef MCCONF_FOC_MOTOR_FLUX_LINKAGE
#define MCCONF_FOC_MOTOR_FLUX_LINKAGE 0.00245
#endif
#ifndef MCCONF_FOC_MOTOR_LD_LQ_DIFF
#define MCCONF_FOC_MOTOR_LD_LQ_DIFF 0.0
#endif
#ifndef MCCONF_FOC_OBSERVER_GAIN
#define MCCONF_FOC_OBSERVER_GAIN 9e7 // Can be something like 600 / L
#endif

14
mcpwm_foc.c
View File

@ -195,6 +195,7 @@ static void terminal_plot_hfi(int argc, const char **argv);
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);
static void apply_mtpa(float *id, float *iq, volatile motor_all_state_t *motor);
// Threads
static THD_WORKING_AREA(timer_thread_wa, 1024);
@ -2541,6 +2542,8 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
motor_now->m_motor_state.phase = motor_now->m_phase_now_override;
}
apply_mtpa(&id_set_tmp, &iq_set_tmp, motor_now);
// Apply current limits
// TODO: Consider D axis current for the input current as well.
const float mod_q = motor_now->m_motor_state.mod_q;
@ -3981,3 +3984,14 @@ static void terminal_plot_hfi(int argc, const char **argv) {
commands_printf("This command requires one argument.\n");
}
}
static void apply_mtpa(float *id, float *iq, volatile motor_all_state_t *motor) {
float ld_lq_diff = motor->m_conf->foc_motor_ld_lq_diff;
if(ld_lq_diff != 0.0){
float lambda = motor->m_conf->foc_motor_flux_linkage;
*id = (lambda - sqrtf(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(*iq))) / (4.0 * ld_lq_diff);
*iq = SIGN(*iq) * sqrtf(SQ(*iq) - SQ(*id));
}
}