mirror of https://github.com/rusefi/bldc.git
Removed a lot of startup code that actually made things worse
This commit is contained in:
Benjamin Vedder
parent
42d17de4fd
commit
9d14ce95ee
4
main.c
4
main.c
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@ -184,7 +184,7 @@ static msg_t sample_send_thread(void *arg) {
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void main_dma_adc_handler(void) {
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ledpwm_update_pwm();
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if (sample_at_start && mcpwm_get_state() == MC_STATE_STARTING) {
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if (sample_at_start && mcpwm_get_state() == MC_STATE_RUNNING) {
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sample_now = 0;
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sample_ready = 0;
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was_start_sample = 1;
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@ -214,7 +214,7 @@ void main_dma_adc_handler(void) {
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uint8_t tmp;
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if (was_start_sample) {
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if (mcpwm_get_state() == MC_STATE_STARTING) {
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if (mcpwm_get_state() == MC_STATE_OFF) {
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tmp = 1;
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} else if (mcpwm_get_state() == MC_STATE_RUNNING) {
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tmp = 2;
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131
mcpwm.c
131
mcpwm.c
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@ -66,10 +66,7 @@ static volatile float mcpwm_detect_currents_avg_samples[6];
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static volatile int switching_frequency_now;
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#if MCPWM_IS_SENSORLESS
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static volatile int start_pulses;
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static volatile int closed_cycles;
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static volatile float cycle_integrator;
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static volatile int start_time_ms_now;
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#endif
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// KV FIR filter
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@ -176,9 +173,7 @@ static void update_adc_sample_pos(void);
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static void set_switch_frequency_hw(int freq);
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#if MCPWM_IS_SENSORLESS
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static void set_open_loop(void);
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static int integrate_cycle(float v_diff);
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static float get_start_duty(void);
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#endif
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// Defines
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@ -225,10 +220,7 @@ void mcpwm_init(void) {
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switching_frequency_now = MCPWM_SWITCH_FREQUENCY_MAX;
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#if MCPWM_IS_SENSORLESS
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start_pulses = 0;
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closed_cycles = 0;
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cycle_integrator = CYCLE_INT_START;
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start_time_ms_now = MCPWM_START_COMM_TIME_MS_L;
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#endif
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// Create KV FIR filter
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@ -695,36 +687,6 @@ void mcpwm_full_brake(void) {
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set_switch_frequency_hw(switching_frequency_now);
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}
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#if MCPWM_IS_SENSORLESS
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static float get_start_duty(void) {
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float ret = 0.0;
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float ratio = utils_calc_ratio(MCPWM_START_COMM_TIME_MS_L,
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MCPWM_START_COMM_TIME_MS_H, start_time_ms_now);
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if (direction) {
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ret = MCPWM_START_DUTY_CYCLE_L * (1 - ratio)
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+ MCPWM_START_DUTY_CYCLE_H * ratio;
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} else {
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ret = -(MCPWM_START_DUTY_CYCLE_REV_L * (1 - ratio) + MCPWM_START_DUTY_CYCLE_REV_H * ratio);
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}
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ret *= 20.0 / GET_BRIDGE_VOLTAGE;
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return ret;
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}
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static void set_open_loop(void) {
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start_pulses = 0;
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state = MC_STATE_STARTING;
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closed_cycles = 0;
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cycle_integrator = CYCLE_INT_START;
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start_time_ms_now = MCPWM_START_COMM_TIME_MS_L;
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dutycycle_now = get_start_duty();
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set_duty_cycle(dutycycle_now);
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}
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#endif
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static void set_duty_cycle(float dutyCycle) {
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if (dutyCycle > MCPWM_MIN_DUTY_CYCLE) {
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direction = 1;
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@ -735,7 +697,6 @@ static void set_duty_cycle(float dutyCycle) {
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if (dutyCycle < MCPWM_MIN_DUTY_CYCLE) {
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switch (state) {
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case MC_STATE_STARTING:
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case MC_STATE_RUNNING:
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state = MC_STATE_OFF;
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if (MCPWM_FULL_BRAKE_AT_STOP) {
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@ -761,12 +722,10 @@ static void set_duty_cycle(float dutyCycle) {
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}
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#if MCPWM_IS_SENSORLESS
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if (state != MC_STATE_RUNNING && state != MC_STATE_STARTING) {
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if (rpm_now < MCPWM_MIN_CLOSED_RPM) {
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set_open_loop();
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} else {
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state = MC_STATE_RUNNING;
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}
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if (state != MC_STATE_RUNNING) {
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state = MC_STATE_RUNNING;
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set_next_comm_step(comm_step);
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TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
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}
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#else
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if (state != MC_STATE_RUNNING) {
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@ -836,15 +795,6 @@ static void run_pid_controller(void) {
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return;
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}
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#if MCPWM_IS_SENSORLESS
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// Start sequence running. Return.
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if (state == MC_STATE_STARTING || closed_cycles < MCPWM_CLOSED_STARTPWM_COMMS) {
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i_term = 0;
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prev_error = 0;
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return;
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}
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#endif
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// Compensation for supply voltage variations
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float scale = 1.0 / GET_INPUT_VOLTAGE;
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@ -900,10 +850,6 @@ static msg_t timer_thread(void *arg) {
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uint32_t tim_val = TIM2->CNT;
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uint32_t tim_diff = tim_val - last_comm_time;
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#if MCPWM_IS_SENSORLESS
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static int start_time_cnt = 0;
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#endif
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if (tim_diff > 0) {
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float rpm_tmp = ((float)MCPWM_AVG_COM_RPM * 1000000.0 * 60.0) /
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((float)tim_diff * (float)MCPWM_NUM_POLES * 3.0);
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@ -913,29 +859,8 @@ static msg_t timer_thread(void *arg) {
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if (rpm_tmp < rpm_now) {
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rpm_now = rpm_tmp;
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}
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#if MCPWM_IS_SENSORLESS
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if (rpm_now < MCPWM_MIN_CLOSED_RPM && state == MC_STATE_RUNNING && closed_cycles > 40) {
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set_open_loop();
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}
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#endif
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}
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#if MCPWM_IS_SENSORLESS
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// Duty-cycle, detect and startup
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static int start_time = 0;
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if (state != MC_STATE_STARTING) {
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if (state == MC_STATE_RUNNING) {
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if (closed_cycles >= MCPWM_CLOSED_STARTPWM_COMMS) {
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start_time_ms_now = MCPWM_START_COMM_TIME_MS_L;
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}
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} else {
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start_time_ms_now = MCPWM_START_COMM_TIME_MS_L;
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}
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}
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#endif
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switch (state) {
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case MC_STATE_OFF:
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break;
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@ -944,34 +869,7 @@ static msg_t timer_thread(void *arg) {
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detect_do_step = 1;
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break;
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#if MCPWM_IS_SENSORLESS
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case MC_STATE_STARTING:
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start_time++;
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if (start_time >= start_time_ms_now) {
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start_time = 0;
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start_pulses++;
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TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
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start_time_cnt++;
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if (start_time_cnt > 6) {
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start_time_cnt = 0;
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start_time_ms_now++;
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if (start_time_ms_now > MCPWM_START_COMM_TIME_MS_H) {
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start_time_ms_now = MCPWM_START_COMM_TIME_MS_L;
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}
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dutycycle_now = get_start_duty();
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set_duty_cycle(dutycycle_now);
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}
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}
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break;
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#endif
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case MC_STATE_RUNNING:
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#if MCPWM_IS_SENSORLESS
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start_time = 0;
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#endif
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break;
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case MC_STATE_FULL_BRAKE:
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@ -1103,10 +1001,9 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
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float comm_time = ((float)switching_frequency_now) /
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((MCPWM_MIN_CLOSED_RPM / 60.0) * (float)MCPWM_NUM_POLES * 3.0);
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if (pwm_adc_cycles >= (int)(comm_time * (1.0 / MCPWM_COMM_RPM_FACTOR))) {
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if (pwm_adc_cycles >= (int)comm_time) {
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if (state == MC_STATE_RUNNING) {
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TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
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closed_cycles++;
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cycle_integrator = CYCLE_INT_START;
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}
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}
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@ -1174,14 +1071,7 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
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}
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if (inc_step) {
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const int ratio = (100 * v_diff) / mcpwm_vzero;
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if (state == MC_STATE_STARTING && ratio < MCPWM_MAX_COMM_START_DIFF
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&& start_pulses > MCPWM_MIN_START_STEPS) {
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// We think we are running in closed loop. Stop start sequence!
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state = MC_STATE_RUNNING;
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cycle_integrator = CYCLE_INT_START;
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} else if (state == MC_STATE_RUNNING || state == MC_STATE_OFF) {
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if (state == MC_STATE_RUNNING || state == MC_STATE_OFF) {
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integrate_cycle((float)v_diff);
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}
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} else {
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@ -1215,12 +1105,6 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
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ramp_step *= fabsf(dutycycle_now);
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}
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#if MCPWM_IS_SENSORLESS
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if (closed_cycles < MCPWM_CLOSED_STARTPWM_COMMS) {
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dutycycle_set_tmp = get_start_duty();
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}
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#endif
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motor_current_sum += current;
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input_current_sum += current_in;
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motor_current_iterations++;
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@ -1348,7 +1232,6 @@ static int integrate_cycle(float v_diff) {
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if (cycle_integrator >= limit) {
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TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
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closed_cycles++;
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cycle_integrator = CYCLE_INT_START;
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return 1;
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}
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@ -1591,7 +1474,7 @@ void mcpwm_comm_int_handler(void) {
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next_step = 1;
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}
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if (!(state == MC_STATE_STARTING || state == MC_STATE_RUNNING)) {
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if (!(state == MC_STATE_RUNNING)) {
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return;
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}
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14
mcpwm.h
14
mcpwm.h
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@ -28,7 +28,6 @@
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typedef enum {
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MC_STATE_OFF = 0,
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MC_STATE_DETECTING,
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MC_STATE_STARTING,
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MC_STATE_RUNNING,
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MC_STATE_FULL_BRAKE,
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MC_STATE_STATIC_VECTOR
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@ -102,17 +101,8 @@ extern volatile int mcpwm_vzero;
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// Sensorless settings
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#define MCPWM_IS_SENSORLESS 1 // Use sensorless commutation
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#define MCPWM_MAX_COMM_START_DIFF 2 // The lower the number, the more picky the the closed loop detector
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#define MCPWM_MIN_CLOSED_RPM 300 // Switch to open loop below this RPM
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#define MCPWM_START_COMM_TIME_MS_L 7 // Commutation time during startup in msecs LOW
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#define MCPWM_START_COMM_TIME_MS_H 20 // Commutation time during startup in msecs HIGH
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#define MCPWM_START_DUTY_CYCLE_L 0.06 // Startup duty cycle min @ 20V
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#define MCPWM_START_DUTY_CYCLE_H 0.2 // Startup duty cycle max @ 20V
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#define MCPWM_START_DUTY_CYCLE_REV_L 0.06 // Startup duty cycle min @ 20V
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#define MCPWM_START_DUTY_CYCLE_REV_H 0.2 // Startup duty cycle max @ 20V
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#define MCPWM_MIN_START_STEPS 1 // Minimum steps to run in open loop
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#define MCPWM_CLOSED_STARTPWM_COMMS 1 // Run at least this many commutations in closed loop with start duty cycle
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#define MCPWM_CYCLE_INT_LIMIT_LOW 200.0 // Flux integrator limit 0 ERPM
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#define MCPWM_MIN_CLOSED_RPM 200 // Switch to open loop below this RPM
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#define MCPWM_CYCLE_INT_LIMIT_LOW 150.0 // Flux integrator limit 0 ERPM
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#define MCPWM_CYCLE_INT_LIMIT_HIGH 20.0 // Flux integrator limit 100K ERPM
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#define MCPWM_VZERO_FACT 1.0 // Virtual zero adjustment
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#define MCPWM_COMM_RPM_FACTOR 0.4 // at least run one commutation for the expected times times this factor
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