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Merge pull request #90 from powerdesigns/virtual-motor-update 

Updated virtual motor library
This commit is contained in:
Benjamin Vedder 2019-05-04 10:48:47 +02:00 committed by GitHub
parent aaf45fc20c 0841a9ce87
commit a80829f5c5
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1 changed files with 34 additions and 25 deletions
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virtual_motor.c
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@ -32,15 +32,18 @@ typedef struct{
float Rs; //Stator Resistance Phase to Neutral in Ohms
float Ld; //Inductance in d-Direction in H
float Lq; //Inductance in q-Direction in H
float Psi; //Rotorflux coupling in Vs/rad
float flux_linkage; //Flux linkage of the permanent magnets in mWb
float J; //Rotor/Load Inertia in Nm*s^2
int v_max_adc; //max voltage that ADC can measure
int pole_pairs; //number of pole pairs ( pole numbers / 2)
float km; //constant = 1.5 * pole pairs
//non constant variables
float id; //Current in d-Direction in A
float id; //Current in d-Direction in Amps
float id_int; //Integral part of id in Amps
float iq; //Current in q-Direction in A
float me; //Electrical Torque in Nm
float w; //Electrical Angular Velocity in rad/s
float we; //Electrical Angular Velocity in rad/s
float phi; //Electrical Rotor Angle in rad
float sin_phi;
float cos_phi;
@ -93,13 +96,16 @@ void virtual_motor_init(void){
virtual_motor.ia = 0.0;
virtual_motor.ib = 0.0;
virtual_motor.ic = 0.0;
virtual_motor.w = 0.0;
virtual_motor.we = 0.0;
virtual_motor.v_alpha = 0.0;
virtual_motor.v_beta = 0.0;
virtual_motor.i_alpha = 0.0;
virtual_motor.i_beta = 0.0;
virtual_motor.id = 0.0;
virtual_motor.id_int = 0.0;
virtual_motor.iq = 0.0;
const volatile mc_configuration *conf = mc_interface_get_configuration();
virtual_motor.pole_pairs = conf->si_motor_poles / 2;
virtual_motor.km = 1.5 * virtual_motor.pole_pairs;
// Register terminal callbacks used for virtual motor setup
terminal_register_command_callback(
@ -196,10 +202,13 @@ static void connect_virtual_motor(float ml , float J, float Ld, float Lq,
virtual_motor.J = J;
virtual_motor.Ld = Ld;
virtual_motor.Lq = Lq;
virtual_motor.Psi = lambda;
virtual_motor.flux_linkage = lambda;
virtual_motor.Rs = Rs;
virtual_motor.ml = ml;
virtual_motor.tsj = virtual_motor.Ts / virtual_motor.J;
const volatile mc_configuration *conf = mc_interface_get_configuration();
virtual_motor.pole_pairs = conf->si_motor_poles / 2;
virtual_motor.km = 1.5 * virtual_motor.pole_pairs;
virtual_motor.connected = true;
}
@ -268,15 +277,20 @@ static inline void run_virtual_motor_electrical(float v_alpha, float v_beta){
virtual_motor.vq = virtual_motor.cos_phi * v_beta - virtual_motor.sin_phi * v_alpha;
// d axis current
virtual_motor.id += (virtual_motor.vd +
virtual_motor.w * virtual_motor.Lq * virtual_motor.iq -
virtual_motor.Rs * virtual_motor.id )
* virtual_motor.Ts / virtual_motor.Ld;
virtual_motor.id_int += ((virtual_motor.vd +
virtual_motor.we *
virtual_motor.pole_pairs *
virtual_motor.Lq * virtual_motor.iq -
virtual_motor.Rs * virtual_motor.id )
* virtual_motor.Ts ) / virtual_motor.Ld;
virtual_motor.id = virtual_motor.id_int - virtual_motor.flux_linkage / virtual_motor.Ld;
// q axis current
virtual_motor.iq += (virtual_motor.vq -
virtual_motor.w * virtual_motor.Ld * virtual_motor.id -
virtual_motor.Rs * virtual_motor.iq -
virtual_motor.w * virtual_motor.Psi )
virtual_motor.we *
virtual_motor.pole_pairs *
(virtual_motor.Ld * virtual_motor.id + virtual_motor.flux_linkage) -
virtual_motor.Rs * virtual_motor.iq )
* virtual_motor.Ts / virtual_motor.Lq;
}
@ -285,25 +299,20 @@ static inline void run_virtual_motor_electrical(float v_alpha, float v_beta){
* @param ml externally applied load torque in Nm
*/
static inline void run_virtual_motor_mechanics(float ml){
// precalculated constants
const float _3by2 = 3.0 / 2.0;
// electric torque
virtual_motor.me = _3by2 * (virtual_motor.Psi * virtual_motor.iq +
(virtual_motor.Lq - virtual_motor.Ld) *
virtual_motor.id * virtual_motor.iq);
virtual_motor.me = virtual_motor.km * (virtual_motor.flux_linkage +
(virtual_motor.Ld - virtual_motor.Lq) *
virtual_motor.id ) * virtual_motor.iq;
// omega
float w_aux = virtual_motor.w + virtual_motor.tsj * (virtual_motor.me - ml);
float w_aux = virtual_motor.we + virtual_motor.tsj * (virtual_motor.me - ml);
if( w_aux < 0.0 ){
virtual_motor.w = 0;
virtual_motor.we = 0;
}else{
virtual_motor.w = w_aux;
virtual_motor.we = w_aux;
}
// phi
virtual_motor.phi += virtual_motor.w * virtual_motor.Ts;
virtual_motor.phi += virtual_motor.we * virtual_motor.Ts;
// phi limits
while( virtual_motor.phi > M_PI ){