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Fix NaN-problem after lost tracking on some motors

This commit is contained in:
Benjamin Vedder 2021-12-19 23:55:03 +01:00
parent a8f989eb64
commit 4eec52d5c0
3 changed files with 8 additions and 4 deletions
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3
hwconf/hw_100_500.h
View File

@ -216,8 +216,7 @@
#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
// Override dead time. See the stm32f4 reference manual for calculating this value.
#define HW_DEAD_TIME_NSEC 660.0
#define HW_DEAD_TIME_NSEC 1000.0
// Default setting overrides
#ifndef MCCONF_L_MIN_VOLTAGE

7
mcpwm_foc.c
View File

@ -2765,6 +2765,9 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
observer_update(motor_now->m_motor_state.v_alpha, motor_now->m_motor_state.v_beta,
motor_now->m_motor_state.i_alpha, motor_now->m_motor_state.i_beta, dt,
&motor_now->m_observer_x1, &motor_now->m_observer_x2, &motor_now->m_phase_now_observer, motor_now);
// Compensate from the phase lag caused by the switching frequency. This is important for motors
// that run on high ERPM compared to the switching frequency.
motor_now->m_phase_now_observer += motor_now->m_pll_speed * dt * 0.5;
utils_norm_angle_rad((float*)&motor_now->m_phase_now_observer);
}
@ -3781,8 +3784,8 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
float dec_bemf = 0.0;
if (motor->m_control_mode < CONTROL_MODE_HANDBRAKE && conf_now->foc_cc_decoupling != FOC_CC_DECOUPLING_DISABLED) {
float lq = conf_now->foc_motor_l + conf_now->foc_motor_ld_lq_diff / 2.0;
float ld = conf_now->foc_motor_l - conf_now->foc_motor_ld_lq_diff / 2.0;
float lq = conf_now->foc_motor_l + conf_now->foc_motor_ld_lq_diff * 0.5;
float ld = conf_now->foc_motor_l - conf_now->foc_motor_ld_lq_diff * 0.5;
switch (conf_now->foc_cc_decoupling) {
case FOC_CC_DECOUPLING_CROSS:

2
utils.c
View File

@ -323,6 +323,8 @@ float utils_fast_atan2(float y, float x) {
angle = ((0.1963 * rsq) - 0.9817) * r + (3.0 * M_PI / 4.0);
}
UTILS_NAN_ZERO(angle);
if (y < 0) {
return(-angle);
} else {