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Another tweak for the sensorless upstart

This commit is contained in:
Benjamin Vedder 2014-03-21 00:00:00 +01:00
parent 9d14ce95ee
commit 74eaa687c8
2 changed files with 11 additions and 6 deletions
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15
mcpwm.c
View File

@ -46,6 +46,7 @@ static volatile int is_using_pid;
static volatile float pid_set_rpm; static volatile float pid_set_rpm;
static volatile int tachometer; static volatile int tachometer;
static volatile int pwm_adc_cycles; static volatile int pwm_adc_cycles;
static volatile int pwm_last_adc_cycles;
static volatile int curr0_sum; static volatile int curr0_sum;
static volatile int curr1_sum; static volatile int curr1_sum;
static volatile int curr_start_samples; static volatile int curr_start_samples;
@ -206,6 +207,7 @@ void mcpwm_init(void) {
pid_set_rpm = 0.0; pid_set_rpm = 0.0;
tachometer = 0; tachometer = 0;
pwm_adc_cycles = 0; pwm_adc_cycles = 0;
pwm_last_adc_cycles = 0;
state = MC_STATE_OFF; state = MC_STATE_OFF;
detect_now = 0; detect_now = 0;
detect_inc = 0; detect_inc = 0;
@ -724,8 +726,10 @@ static void set_duty_cycle(float dutyCycle) {
#if MCPWM_IS_SENSORLESS #if MCPWM_IS_SENSORLESS
if (state != MC_STATE_RUNNING) { if (state != MC_STATE_RUNNING) {
state = MC_STATE_RUNNING; state = MC_STATE_RUNNING;
set_next_comm_step(comm_step); if (rpm_now < MCPWM_MIN_RPM) {
TIM_GenerateEvent(TIM1, TIM_EventSource_COM); set_next_comm_step(comm_step);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
}
} }
#else #else
if (state != MC_STATE_RUNNING) { if (state != MC_STATE_RUNNING) {
@ -998,8 +1002,8 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
#if MCPWM_IS_SENSORLESS #if MCPWM_IS_SENSORLESS
// Compute the theoretical commutation time at the current RPM // Compute the theoretical commutation time at the current RPM
float comm_time = ((float)switching_frequency_now) / const float comm_time = ((float)switching_frequency_now) /
((MCPWM_MIN_CLOSED_RPM / 60.0) * (float)MCPWM_NUM_POLES * 3.0); ((MCPWM_MIN_RPM / 60.0) * (float)MCPWM_NUM_POLES * 3.0);
if (pwm_adc_cycles >= (int)comm_time) { if (pwm_adc_cycles >= (int)comm_time) {
if (state == MC_STATE_RUNNING) { if (state == MC_STATE_RUNNING) {
@ -1008,7 +1012,7 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
} }
} }
if (pwm_adc_cycles > 3) { if (pwm_adc_cycles > pwm_last_adc_cycles / 4) {
int inc_step = 0; int inc_step = 0;
int ph1, ph2, ph3; int ph1, ph2, ph3;
int v_diff = 0; int v_diff = 0;
@ -1416,6 +1420,7 @@ static void update_adc_sample_pos(void) {
} }
static void update_rpm_tacho(void) { static void update_rpm_tacho(void) {
pwm_last_adc_cycles = pwm_adc_cycles;
pwm_adc_cycles = 0; pwm_adc_cycles = 0;
static uint32_t comm_counter = 0; static uint32_t comm_counter = 0;

2
mcpwm.h
View File

@ -101,7 +101,7 @@ extern volatile int mcpwm_vzero;
// Sensorless settings // Sensorless settings
#define MCPWM_IS_SENSORLESS 1 // Use sensorless commutation #define MCPWM_IS_SENSORLESS 1 // Use sensorless commutation
#define MCPWM_MIN_CLOSED_RPM 200 // Switch to open loop below this RPM #define MCPWM_MIN_RPM 200 // Auto-commutate below this RPM
#define MCPWM_CYCLE_INT_LIMIT_LOW 150.0 // Flux integrator limit 0 ERPM #define MCPWM_CYCLE_INT_LIMIT_LOW 150.0 // Flux integrator limit 0 ERPM
#define MCPWM_CYCLE_INT_LIMIT_HIGH 20.0 // Flux integrator limit 100K ERPM #define MCPWM_CYCLE_INT_LIMIT_HIGH 20.0 // Flux integrator limit 100K ERPM
#define MCPWM_VZERO_FACT 1.0 // Virtual zero adjustment #define MCPWM_VZERO_FACT 1.0 // Virtual zero adjustment