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Merge pull request #748 from ElwinBoots/master 

Correction of inductance measurement.
This commit is contained in:
Benjamin Vedder 2024-07-21 09:02:31 +02:00 committed by GitHub
parent 27cb0ca0c3 f891bbcc12
commit ea01a6a620
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GPG Key ID: B5690EEEBB952194
1 changed files with 47 additions and 23 deletions
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68
motor/mcpwm_foc.c
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@ -1431,8 +1431,14 @@ float mcpwm_foc_get_est_res(void) {
// NOTE: Requires the regular HFI sensor mode to run
float mcpwm_foc_get_est_ind(void) {
float real_bin0, imag_bin0;
get_motor_now()->m_hfi.fft_bin0_func((float*)get_motor_now()->m_hfi.buffer, &real_bin0, &imag_bin0);
return real_bin0;
float real_bin2, imag_bin2;
get_motor_now()->m_hfi.fft_bin0_func((float*)get_motor_now()->m_hfi.buffer, &real_bin0, &imag_bin0); // real_bin0 contains the average of the inverse of the inductance
get_motor_now()->m_hfi.fft_bin0_func((float*)get_motor_now()->m_hfi.buffer, &real_bin2, &imag_bin2); // real_bin2 (cosine) and imag_bin2 (sine) contain the magnitude of the measured 2nd harmonic. Note: dual sided and length normalized FFT, so signal magnitude is twice the bin value.
float offset = real_bin0;
float amplitude = NORM2_f(real_bin2, imag_bin2) * 2.0;
float Ld_est = 1.0 / (offset + amplitude);
float Lq_est = 1.0 / (offset - amplitude);
return (Ld_est + Lq_est) / 2.0;
}
/**
@ -1945,15 +1951,26 @@ int mcpwm_foc_measure_inductance(float duty, int samples, float *curr, float *ld
float real_bin2, imag_bin2;
float real_bin0_i, imag_bin0_i;
motor->m_hfi.fft_bin0_func((float*)motor->m_hfi.buffer, &real_bin0, &imag_bin0);
motor->m_hfi.fft_bin2_func((float*)motor->m_hfi.buffer, &real_bin2, &imag_bin2);
motor->m_hfi.fft_bin0_func((float*)motor->m_hfi.buffer_current, &real_bin0_i, &imag_bin0_i);
motor->m_hfi.fft_bin0_func((float*)motor->m_hfi.buffer, &real_bin0, &imag_bin0); // real_bin0 contains the average of the inverse of the inductance
motor->m_hfi.fft_bin2_func((float*)motor->m_hfi.buffer, &real_bin2, &imag_bin2); // real_bin2 (cosine) and imag_bin2 (sine) contain the magnitude of the measured 2nd harmonic. Note: dual sided and length normalized FFT, so signal magnitude is twice the bin value.
motor->m_hfi.fft_bin0_func((float*)motor->m_hfi.buffer_current, &real_bin0_i, &imag_bin0_i); // real_bin0_i contains the average delta current
l_sum += real_bin0;
i_sum += real_bin0_i;
//l_sum += real_bin0;
//i_sum += real_bin0_i;
// See https://vesc-project.com/comment/8338#comment-8338
ld_lq_diff_sum += 4.0 * NORM2_f(real_bin2, imag_bin2);
//ld_lq_diff_sum += 4.0 * NORM2_f(real_bin2, imag_bin2);
// Above was an approximation that is only valid for motors with not too much LdLq difference. Below is correct (assuming Ld < Lq).
float offset = real_bin0;
float amplitude = NORM2_f(real_bin2, imag_bin2) * 2.0;
float Ld_est = 1.0 / (offset + amplitude);
float Lq_est = 1.0 / (offset - amplitude);
l_sum += (Ld_est + Lq_est) / 2.0;
ld_lq_diff_sum += (Lq_est - Ld_est);
i_sum += real_bin0_i;
iterations++;
}
@ -4025,7 +4042,7 @@ static void hfi_update(volatile motor_all_state_t *motor, float dt) {
angle_bin_1 += M_PI / 1.7; // Why 1.7??
utils_norm_angle_rad(&angle_bin_1);
float mag_bin_2 = NORM2_f(imag_bin2, real_bin2);
//float mag_bin_2 = NORM2_f(imag_bin2, real_bin2);
float angle_bin_2 = -utils_fast_atan2(imag_bin2, real_bin2) / 2.0;
// Assuming this thread is much faster than it takes to fill the HFI buffer completely,
@ -4081,6 +4098,13 @@ static void hfi_update(volatile motor_all_state_t *motor, float dt) {
float real_bin0, imag_bin0;
motor->m_hfi.fft_bin0_func((float*)motor->m_hfi.buffer, &real_bin0, &imag_bin0);
float offset = real_bin0;
float amplitude = NORM2_f(real_bin2, imag_bin2) * 2.0;
float Ld_est = 1.0 / (offset + amplitude);
float Lq_est = 1.0 / (offset - amplitude);
float L_est = (Ld_est + Lq_est) / 2.0;
float ld_lq_diff = (Lq_est - Ld_est);
commands_plot_set_graph(0);
commands_send_plot_points(motor->m_hfi_plot_sample, motor->m_hfi.angle);
@ -4089,13 +4113,13 @@ static void hfi_update(volatile motor_all_state_t *motor, float dt) {
commands_send_plot_points(motor->m_hfi_plot_sample, angle_bin_1);
commands_plot_set_graph(2);
commands_send_plot_points(motor->m_hfi_plot_sample, 2.0 * mag_bin_2 * 1e6);
commands_send_plot_points(motor->m_hfi_plot_sample, ld_lq_diff * 1e6);
commands_plot_set_graph(3);
commands_send_plot_points(motor->m_hfi_plot_sample, 2.0 * mag_bin_1 * 1e6);
commands_send_plot_points(motor->m_hfi_plot_sample, (0.5 / mag_bin_1) * 1e6);
commands_plot_set_graph(4);
commands_send_plot_points(motor->m_hfi_plot_sample, real_bin0 * 1e6);
commands_send_plot_points(motor->m_hfi_plot_sample, L_est * 1e6);
// commands_plot_set_graph(0);
// commands_send_plot_points(motor->m_hfi_plot_sample, motor->m_pll_speed);
@ -4582,14 +4606,14 @@ static void control_current(motor_all_state_t *motor, float dt) {
}
} else {
if (motor->m_hfi.is_samp_n) {
float sample_now = (utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_alpha -
utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_beta);
float sample_now = (utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_alpha +
utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_beta);
float di = (sample_now - motor->m_hfi.prev_sample);
motor->m_hfi.buffer_current[motor->m_hfi.ind] = di;
if (di > 0.01) {
motor->m_hfi.buffer[motor->m_hfi.ind] = hfi_voltage / (conf_now->foc_f_zv * di);
motor->m_hfi.buffer[motor->m_hfi.ind] = (conf_now->foc_f_zv * di) / hfi_voltage; //Changed to inverse of inductance. This is what is needed for the FFT, not the inductance itself. This is because the measurement has a dc offset, which will leak into other bins when the inverse is takes first.
}
motor->m_hfi.ind++;
@ -4598,14 +4622,14 @@ static void control_current(motor_all_state_t *motor, float dt) {
motor->m_hfi.ready = true;
}
mod_alpha_v7 += hfi_voltage * utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
mod_beta_v7 -= hfi_voltage * utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
mod_alpha_v7 += hfi_voltage * utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
mod_beta_v7 += hfi_voltage * utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
} else {
motor->m_hfi.prev_sample = utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_alpha -
utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_beta;
motor->m_hfi.prev_sample = utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_alpha +
utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * state_m->i_beta;
mod_alpha_v7 -= hfi_voltage * utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
mod_beta_v7 += hfi_voltage * utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
mod_alpha_v7 -= hfi_voltage * utils_tab_cos_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
mod_beta_v7 -= hfi_voltage * utils_tab_sin_32_1[motor->m_hfi.ind * motor->m_hfi.table_fact] * voltage_normalize;
}
}
@ -4631,7 +4655,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
(uint32_t*)&motor->m_duty1_next,
(uint32_t*)&motor->m_duty2_next,
(uint32_t*)&motor->m_duty3_next,
(uint32_t*)&state_m->svm_sector);
(uint32_t*)&state_m->svm_sector); //svm_sector already gettings written here. Seems incorrect since it will only be used in the next update, but svm_sector seems unused so no issue.
motor->m_duty_next_set = true;
}
} else {