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[MCPWM_FOC] Make rotor lock feature use D axis 

Changes rotor lock feature from Q axis to D axis. This has two advantages:
1. Now the angle you put in is the angle you really get in the alpha beta frame (no 90 degree offset).
2. Now when the rotor is being locked, the D axis is really the D axis and Q is really the Q axis. This helps for FRF measurements.
This commit is contained in:
ElwinBoots 2021-12-23 21:25:31 +01:00 committed by Kenn Sebesta
parent 3ed8c90a1d
commit e4f4bb1d3f
1 changed files with 11 additions and 7 deletions
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18
mcpwm_foc.c
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@ -890,7 +890,8 @@ void mcpwm_foc_set_pid_pos(float pos) {
void mcpwm_foc_set_current(float current) {
motor_now()->m_control_mode = CONTROL_MODE_CURRENT;
motor_now()->m_iq_set = current;
motor_now()->m_id_set = 0;
if (fabsf(current) < motor_now()->m_conf->cc_min_current) {
return;
}
@ -980,7 +981,8 @@ void mcpwm_foc_set_openloop_phase(float current, float phase) {
motor_now()->m_conf->l_current_max * motor_now()->m_conf->l_current_max_scale);
motor_now()->m_control_mode = CONTROL_MODE_OPENLOOP_PHASE;
motor_now()->m_iq_set = current;
motor_now()->m_id_set = current;
motor_now()->m_iq_set = 0;
motor_now()->m_openloop_phase = DEG2RAD_f(phase);
utils_norm_angle_rad((float*)&motor_now()->m_openloop_phase);
@ -2786,7 +2788,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
motor_now->m_motor_state.phase = motor_now->m_phase_now_encoder_no_index;
}
if (!motor_now->m_phase_override) {
if (!motor_now->m_phase_override && motor_now->m_control_mode != CONTROL_MODE_OPENLOOP_PHASE) {
id_set_tmp = 0.0;
}
break;
@ -2794,7 +2796,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
motor_now->m_phase_now_observer = correct_hall(motor_now->m_phase_now_observer, dt, motor_now);
motor_now->m_motor_state.phase = motor_now->m_phase_now_observer;
if (!motor_now->m_phase_override) {
if (!motor_now->m_phase_override && motor_now->m_control_mode != CONTROL_MODE_OPENLOOP_PHASE) {
id_set_tmp = 0.0;
}
break;
@ -2807,7 +2809,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
motor_now->m_motor_state.phase = motor_now->m_phase_now_observer;
}
if (!motor_now->m_phase_override) {
if (!motor_now->m_phase_override && motor_now->m_control_mode != CONTROL_MODE_OPENLOOP_PHASE) {
id_set_tmp = 0.0;
}
break;
@ -2824,7 +2826,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
motor_now->m_phase_observer_override = false;
}
if (!motor_now->m_phase_override) {
if (!motor_now->m_phase_override && motor_now->m_control_mode != CONTROL_MODE_OPENLOOP_PHASE) {
id_set_tmp = 0.0;
}
break;
@ -2847,7 +2849,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
conf_now->foc_sl_erpm_hfi,
motor_now);
if (!motor_now->m_phase_override) {
if (!motor_now->m_phase_override && motor_now->m_control_mode != CONTROL_MODE_OPENLOOP_PHASE) {
id_set_tmp = 0.0;
}
break;
@ -3175,7 +3177,9 @@ static void timer_update(volatile motor_all_state_t *motor, float dt) {
motor->m_control_mode == CONTROL_MODE_HANDBRAKE ||
motor->m_control_mode == CONTROL_MODE_OPENLOOP ||
motor->m_control_mode == CONTROL_MODE_OPENLOOP_PHASE)) {
// For various control modes, check whether the controller needs to be disabled. Disable when current request is below threshold and field weakening has stopped.
if (fabsf(motor->m_iq_set) < motor->m_conf->cc_min_current &&
fabsf(motor->m_id_set) < motor->m_conf->cc_min_current &&
motor->m_i_fw_set < motor->m_conf->cc_min_current &&
motor->m_current_off_delay < dt) {
motor->m_control_mode = CONTROL_MODE_NONE;