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Some updates to MTPA PR

This commit is contained in:
Benjamin Vedder 2020-06-17 13:55:35 +02:00
parent dea04a5e22
commit 960cd3b992
4 changed files with 12 additions and 16 deletions
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1
CHANGELOG
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@ -5,6 +5,7 @@
* Fixed motor temperature reading on hw with ADC mux.
* Added speed PID input ramping option.
* Added LSM6DS3 IMU support.
* Added MTPA support. See See: https://github.com/vedderb/bldc/pull/179
=== FW 5.01 ===
* Fixed PPM bug in previous release.

2
conf_general.h
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@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 02
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 3
#define FW_TEST_VERSION_NUMBER 4
#include "datatypes.h"

4
confgenerator.h
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@ -8,8 +8,8 @@
#include <stdbool.h>
// Constants
#define MCCONF_SIGNATURE 2013508732
#define APPCONF_SIGNATURE 2460147246
#define MCCONF_SIGNATURE 1358025204
#define APPCONF_SIGNATURE 2662993821
// Functions
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

21
mcpwm_foc.c
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@ -195,7 +195,6 @@ 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);
@ -2547,7 +2546,14 @@ 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 MTPA. See: https://github.com/vedderb/bldc/pull/179
float ld_lq_diff = conf_now->foc_motor_ld_lq_diff;
if (ld_lq_diff != 0.0) {
float lambda = conf_now->foc_motor_flux_linkage;
id_set_tmp = (lambda - sqrtf(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(iq_set_tmp))) / (4.0 * ld_lq_diff);
iq_set_tmp = SIGN(iq_set_tmp) * sqrtf(SQ(iq_set_tmp) - SQ(id_set_tmp));
}
// Apply current limits
// TODO: Consider D axis current for the input current as well.
@ -3989,14 +3995,3 @@ 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));
}
}