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HFI tweaks

This commit is contained in:
Benjamin Vedder 2022-04-07 01:46:34 +02:00
parent 9ce1100df8
commit b6a8cf41a5
1 changed files with 8 additions and 8 deletions
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16
mcpwm_foc.c
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@ -3841,10 +3841,10 @@ static void control_current(motor_all_state_t *motor, float dt) {
motor->m_hfi.double_integrator = 0.0;
motor->m_hfi.angle = motor->m_phase_now_observer;
} else {
float hfi_dt = dt;
float hfi_dt = dt * 2.0;
#ifdef HW_HAS_PHASE_SHUNTS
if (!conf_now->foc_sample_v0_v7 && conf_now->foc_sensor_mode == FOC_SENSOR_MODE_HFI_V5) {
hfi_dt *= 2.0;
if (!conf_now->foc_sample_v0_v7 && conf_now->foc_sensor_mode == FOC_SENSOR_MODE_HFI_V4) {
hfi_dt = dt;
}
#endif
@ -3858,11 +3858,11 @@ static void control_current(motor_all_state_t *motor, float dt) {
// Notice that this is a division by 0 when foc_motor_ld_lq_diff is 0. That is
// however an invalid configuration as this HFI-method makes no sense on such
// a motor and should be handled upstream.
float err = di / (dt * hfi_voltage * (1.0 / lq - 1.0 / ld));
float err = di / (dt * -hfi_voltage * (1.0 / lq - 1.0 / ld));
motor->m_hfi.double_integrator += hfi_dt * err * gain_int2;
utils_norm_angle_rad((float*)&motor->m_hfi.double_integrator);
motor->m_hfi.angle += gain_int * err * hfi_dt + motor->m_hfi.double_integrator;
motor->m_hfi.angle -= gain_int * err * hfi_dt + motor->m_hfi.double_integrator;
utils_norm_angle_rad((float*)&motor->m_hfi.angle);
motor->m_hfi.ready = true;
}
@ -3907,10 +3907,10 @@ static void control_current(motor_all_state_t *motor, float dt) {
motor->m_hfi.angle = motor->m_phase_now_observer;
} else {
if (fabsf(di) > 0.1) {
float hfi_dt = dt;
float hfi_dt = dt * 2.0;
#ifdef HW_HAS_PHASE_SHUNTS
if (!conf_now->foc_sample_v0_v7 && conf_now->foc_sensor_mode == FOC_SENSOR_MODE_HFI_V3) {
hfi_dt *= 2.0;
if (!conf_now->foc_sample_v0_v7 && conf_now->foc_sensor_mode == FOC_SENSOR_MODE_HFI_V2) {
hfi_dt = dt;
}
#endif