mirror of https://github.com/rusefi/bldc.git
Added hall sensor rate limiter again, now based on the hall toggle rate as in 6.02
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@ -550,6 +550,7 @@ float foc_correct_hall(float angle, float dt, motor_all_state_t *motor, int hall
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float rad_per_sec = motor->m_speed_est_fast_corrected;
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float rpm_abs = fabsf(RADPS2RPM_f(motor->m_pll_speed));
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float rpm_abs_hall = fabsf(RADPS2RPM_f((M_PI / 3.0) / motor->m_hall_dt_diff_last));
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motor->m_using_hall = rpm_abs < conf_now->foc_sl_erpm;
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float angle_old = angle;
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@ -603,8 +604,22 @@ float foc_correct_hall(float angle, float dt, motor_all_state_t *motor, int hall
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}
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}
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utils_norm_angle_rad((float*)&motor->m_ang_hall);
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// Limit hall sensor rate of change. This will reduce current spikes in the current controllers when the angle estimation
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// changes fast.
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float angle_step = (fmaxf(rpm_abs_hall, conf_now->foc_hall_interp_erpm) / 60.0) * 2.0 * M_PI * dt * 1.5;
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float angle_diff = utils_angle_difference_rad(motor->m_ang_hall, motor->m_ang_hall_rate_limited);
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if (fabsf(angle_diff) < angle_step) {
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motor->m_ang_hall_rate_limited = motor->m_ang_hall;
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} else {
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motor->m_ang_hall_rate_limited += angle_step * SIGN(angle_diff);
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}
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utils_norm_angle_rad((float*)&motor->m_ang_hall_rate_limited);
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if (motor->m_using_hall) {
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angle = motor->m_ang_hall;
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angle = motor->m_ang_hall_rate_limited;
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}
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} else {
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// Invalid hall reading. Don't update angle.
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@ -215,6 +215,7 @@ typedef struct {
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int m_ang_hall_int_prev;
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bool m_using_hall;
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float m_ang_hall;
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float m_ang_hall_rate_limited;
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float m_hall_dt_diff_last;
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float m_hall_dt_diff_now;
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bool m_motor_released;
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@ -1390,7 +1390,7 @@ float mcpwm_foc_get_phase_encoder(void) {
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}
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float mcpwm_foc_get_phase_hall(void) {
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float angle = RAD2DEG_f(get_motor_now()->m_ang_hall);
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float angle = RAD2DEG_f(get_motor_now()->m_ang_hall_rate_limited);
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utils_norm_angle(&angle);
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return angle;
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}
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