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Include integrator in current control output one cycle earlier

This commit is contained in:
Benjamin Vedder 2022-05-23 11:32:55 +02:00
parent dcb0b47f94
commit 465a801076
1 changed files with 4 additions and 3 deletions
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7
motor/mcpwm_foc.c
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@ -3776,9 +3776,6 @@ static void control_current(motor_all_state_t *motor, float dt) {
float Ierr_d = state_m->id_target - state_m->id;
float Ierr_q = state_m->iq_target - state_m->iq;
state_m->vd = state_m->vd_int + Ierr_d * conf_now->foc_current_kp * d_gain_scale; //Feedback (PI controller). No D action needed because the plant is a first order system (tf = 1/(Ls+R))
state_m->vq = state_m->vq_int + Ierr_q * conf_now->foc_current_kp;
float ki = conf_now->foc_current_ki;
if (conf_now->foc_temp_comp) {
ki = motor->m_current_ki_temp_comp;
@ -3787,6 +3784,10 @@ static void control_current(motor_all_state_t *motor, float dt) {
state_m->vd_int += Ierr_d * (ki * d_gain_scale * dt);
state_m->vq_int += Ierr_q * (ki * dt);
// Feedback (PI controller). No D action needed because the plant is a first order system (tf = 1/(Ls+R))
state_m->vd = state_m->vd_int + Ierr_d * conf_now->foc_current_kp * d_gain_scale;
state_m->vq = state_m->vq_int + Ierr_q * conf_now->foc_current_kp;
// Decoupling. Using feedforward this compensates for the fact that the equations of a PMSM
// are not really decoupled (the d axis current has impact on q axis voltage and visa-versa):
// Resistance Inductance Cross terms Back-EMF (see www.mathworks.com/help/physmod/sps/ref/pmsm.html)