mirror of https://github.com/rusefi/bldc.git
Allow passive flux linkage measurement
This commit is contained in:
Benjamin Vedder
parent
e06a179943
commit
f32ee99852
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@ -41,6 +41,7 @@
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* Fix possible runaway after faults during openloop measurements (flux linkage, encoder).
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* Added more current sampling modes.
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* Added FOC interpolation mode.
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* Allow passive flux linkage measurement.
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### 6.02
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#### 2023-03-12
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308
conf_general.c
308
conf_general.c
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@ -966,12 +966,22 @@ uint8_t conf_general_calculate_deadtime(float deadtime_ns, float core_clock_freq
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* Fault code
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*/
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int conf_general_measure_flux_linkage_openloop(float current, float duty,
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float erpm_per_sec, float res, float ind, float *linkage,
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float *linkage_undriven, float *undriven_samples, bool *result) {
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float erpm_per_sec, float res, float ind, float *linkage,
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float *linkage_undriven, float *undriven_samples, bool *result) {
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*result = false;
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int fault = FAULT_CODE_NONE;
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// Allow using old values when only measuring the flux linkage undriven
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if (fabsf(current) <= mc_interface_get_configuration()->cc_min_current) {
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if (res <= 0.0) {
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res = mc_interface_get_configuration()->foc_motor_r;
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}
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if (ind <= 0.0) {
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ind = mc_interface_get_configuration()->foc_motor_l;
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}
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}
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// Don't let impossible values through.
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if (res <= 0.0 || ind <= 0.0) {
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return fault;
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@ -1031,52 +1041,32 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
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int cnt = 0;
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float rpm_now = 0;
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// Start by locking the motor
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for (int i = 0;i < 200;i++) {
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mc_interface_lock_override_once();
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mc_interface_set_openloop_current((float)i * current / 200.0, rpm_now);
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fault = mc_interface_get_fault();
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if (fault != FAULT_CODE_NONE) {
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timeout_configure(tout, tout_c, tout_ksw);
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mc_interface_unlock();
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mc_interface_release_motor();
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mc_interface_wait_for_motor_release(1.0);
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mc_interface_set_configuration(mcconf_old);
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mempools_free_mcconf(mcconf);
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mempools_free_mcconf(mcconf_old);
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return fault;
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if (fabsf(current) > mcconf->cc_min_current) {
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// Start by locking the motor
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for (int i = 0;i < 200;i++) {
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mc_interface_lock_override_once();
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mc_interface_set_openloop_current((float)i * current / 200.0, rpm_now);
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fault = mc_interface_get_fault();
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if (fault != FAULT_CODE_NONE) {
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timeout_configure(tout, tout_c, tout_ksw);
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mc_interface_unlock();
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mc_interface_release_motor();
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mc_interface_wait_for_motor_release(1.0);
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mc_interface_set_configuration(mcconf_old);
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mempools_free_mcconf(mcconf);
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mempools_free_mcconf(mcconf_old);
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return fault;
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}
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chThdSleepMilliseconds(1);
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}
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chThdSleepMilliseconds(1);
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}
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float duty_still = 0;
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float samples = 0;
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for (int i = 0;i < 1000;i++) {
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duty_still += fabsf(mc_interface_get_duty_cycle_now());
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samples += 1.0;
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chThdSleepMilliseconds(1);
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}
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fault = mc_interface_get_fault();
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if (fault != FAULT_CODE_NONE) {
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timeout_configure(tout, tout_c, tout_ksw);
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mc_interface_unlock();
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mc_interface_release_motor();
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mc_interface_wait_for_motor_release(1.0);
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mc_interface_set_configuration(mcconf_old);
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mempools_free_mcconf(mcconf);
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mempools_free_mcconf(mcconf_old);
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return fault;
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}
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duty_still /= samples;
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float duty_max = 0.0;
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const int max_time = 15000;
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while (fabsf(mc_interface_get_duty_cycle_now()) < duty) {
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rpm_now += erpm_per_sec / 1000.0;
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mc_interface_lock_override_once();
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mc_interface_set_openloop_current(current, mcconf->m_invert_direction ? -rpm_now : rpm_now);
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float duty_still = 0;
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float samples = 0;
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for (int i = 0;i < 1000;i++) {
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duty_still += fabsf(mc_interface_get_duty_cycle_now());
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samples += 1.0;
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chThdSleepMilliseconds(1);
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}
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fault = mc_interface_get_fault();
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if (fault != FAULT_CODE_NONE) {
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@ -1090,109 +1080,74 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
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return fault;
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}
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duty_still /= samples;
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float duty_max = 0.0;
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const int max_time = 15000;
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chThdSleepMilliseconds(1);
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cnt++;
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float duty_now = fabsf(mc_interface_get_duty_cycle_now());
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if (duty_now > duty_max) {
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duty_max = duty_now;
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}
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if (cnt >= max_time) {
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*linkage = -1.0;
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break;
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}
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if (cnt > 4000 && duty_now < (duty_max * 0.7)) {
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cnt = max_time;
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*linkage = -2.0;
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break;
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}
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if (cnt > 4000 && duty < duty_still * 1.1) {
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cnt = max_time;
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*linkage = -3.0;
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break;
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}
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if (rpm_now >= 12000) {
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break;
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}
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}
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chThdSleepMilliseconds(1000);
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if (cnt < max_time) {
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float vq_avg = 0.0;
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float vd_avg = 0.0;
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float iq_avg = 0.0;
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float id_avg = 0.0;
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float samples2 = 0.0;
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for (int i = 0;i < 10000;i++) {
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vq_avg += mcpwm_foc_get_vq();
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vd_avg += mcpwm_foc_get_vd();
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iq_avg += mcpwm_foc_get_iq();
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id_avg += mcpwm_foc_get_id();
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samples2 += 1.0;
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chThdSleep(1);
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while (fabsf(mc_interface_get_duty_cycle_now()) < duty) {
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rpm_now += erpm_per_sec / 1000.0;
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mc_interface_lock_override_once();
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mc_interface_set_openloop_current(current, mcconf->m_invert_direction ? -rpm_now : rpm_now);
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fault = mc_interface_get_fault();
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if (fault != FAULT_CODE_NONE) {
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timeout_configure(tout, tout_c, tout_ksw);
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mc_interface_unlock();
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mc_interface_release_motor();
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mc_interface_wait_for_motor_release(1.0);
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mc_interface_set_configuration(mcconf_old);
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mempools_free_mcconf(mcconf);
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mempools_free_mcconf(mcconf_old);
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return fault;
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}
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chThdSleepMilliseconds(1);
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cnt++;
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float duty_now = fabsf(mc_interface_get_duty_cycle_now());
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if (duty_now > duty_max) {
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duty_max = duty_now;
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}
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if (cnt >= max_time) {
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*linkage = -1.0;
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break;
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}
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if (cnt > 4000 && duty_now < (duty_max * 0.7)) {
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cnt = max_time;
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*linkage = -2.0;
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break;
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}
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if (cnt > 4000 && duty < duty_still * 1.1) {
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cnt = max_time;
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*linkage = -3.0;
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break;
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}
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if (rpm_now >= 12000) {
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break;
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}
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}
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vq_avg /= samples2;
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vd_avg /= samples2;
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iq_avg /= samples2;
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id_avg /= samples2;
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chThdSleepMilliseconds(1000);
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float rad_s = RPM2RADPS_f(rpm_now);
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float v_mag = NORM2_f(vq_avg, vd_avg);
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float i_mag = NORM2_f(iq_avg, id_avg);
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*linkage = (v_mag - res * i_mag) / rad_s - i_mag * ind;
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if (cnt < max_time) {
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float vq_avg = 0.0;
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float vd_avg = 0.0;
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float iq_avg = 0.0;
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float id_avg = 0.0;
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float samples2 = 0.0;
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mcconf->foc_motor_r = res;
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mcconf->foc_motor_l = ind;
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mcconf->foc_motor_flux_linkage = *linkage;
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mcconf->foc_observer_gain = 0.5e3 / SQ(*linkage);
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mc_interface_set_configuration(mcconf);
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// Give the observer time to settle
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chThdSleepMilliseconds(500);
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// Turn off the FETs
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mcpwm_foc_stop_pwm(mc_interface_get_motor_thread() == 2);
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// Clear any lingering current set points
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mcpwm_foc_set_current(0.0);
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// Let the H-bridges settle
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chThdSleepMilliseconds(5);
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float linkage_sum = 0.0;
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float linkage_samples = 0.0;
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if (fault == FAULT_CODE_NONE) {
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for (int i = 0;i < 2000;i++) {
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float rad_s_now = RPM2RADPS_f(mcpwm_foc_get_rpm_faster());
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if (fabsf(mcpwm_foc_get_duty_cycle_now()) < 0.02) {
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break;
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}
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linkage_sum += mcpwm_foc_get_vq() / rad_s_now;
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// Optionally use magnitude
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// linkage_sum += sqrtf(SQ(mcpwm_foc_get_vq()) + SQ(mcpwm_foc_get_vd())) / rad_s_now;
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// Optionally use magnitude of observer state
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// float x1, x2;
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// mcpwm_foc_get_observer_state(&x1, &x2);
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// linkage_sum += sqrtf(SQ(x1) + SQ(x2));
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linkage_samples += 1.0;
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for (int i = 0;i < 10000;i++) {
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vq_avg += mcpwm_foc_get_vq();
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vd_avg += mcpwm_foc_get_vd();
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iq_avg += mcpwm_foc_get_iq();
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id_avg += mcpwm_foc_get_id();
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samples2 += 1.0;
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chThdSleep(1);
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fault = mc_interface_get_fault();
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@ -1201,17 +1156,78 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
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}
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}
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*undriven_samples = linkage_samples;
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vq_avg /= samples2;
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vd_avg /= samples2;
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iq_avg /= samples2;
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id_avg /= samples2;
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if (linkage_samples > 0) {
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*linkage_undriven = linkage_sum / linkage_samples;
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} else {
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*linkage_undriven = 0.0;
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float rad_s = RPM2RADPS_f(rpm_now);
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float v_mag = NORM2_f(vq_avg, vd_avg);
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float i_mag = NORM2_f(iq_avg, id_avg);
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*linkage = (v_mag - res * i_mag) / rad_s - i_mag * ind;
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mcconf->foc_motor_r = res;
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mcconf->foc_motor_l = ind;
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mcconf->foc_motor_flux_linkage = *linkage;
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mcconf->foc_observer_gain = 0.5e3 / SQ(*linkage);
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mc_interface_set_configuration(mcconf);
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// Give the observer time to settle
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chThdSleepMilliseconds(500);
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// Turn off the FETs
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mcpwm_foc_stop_pwm(mc_interface_get_motor_thread() == 2);
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// Clear any lingering current set points
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mcpwm_foc_set_current(0.0);
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// Let the H-bridges settle
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chThdSleepMilliseconds(5);
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}
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} else {
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*linkage = 0.0;
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}
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float linkage_sum = 0.0;
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float linkage_samples = 0.0;
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if (fault == FAULT_CODE_NONE) {
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for (int i = 0;i < 2000;i++) {
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float rad_s_now = RPM2RADPS_f(mcpwm_foc_get_rpm_faster());
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if (fabsf(mcpwm_foc_get_duty_cycle_now()) < 0.02) {
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break;
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}
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if (*linkage > 0.0) {
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*result = true;
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linkage_sum += mcpwm_foc_get_vq() / rad_s_now;
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// Optionally use magnitude
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// linkage_sum += sqrtf(SQ(mcpwm_foc_get_vq()) + SQ(mcpwm_foc_get_vd())) / rad_s_now;
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// Optionally use magnitude of observer state
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// float x1, x2;
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// mcpwm_foc_get_observer_state(&x1, &x2);
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// linkage_sum += sqrtf(SQ(x1) + SQ(x2));
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linkage_samples += 1.0;
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chThdSleep(1);
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fault = mc_interface_get_fault();
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if (fault != FAULT_CODE_NONE) {
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break;
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}
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}
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*undriven_samples = linkage_samples;
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if (linkage_samples > 0) {
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*linkage_undriven = linkage_sum / linkage_samples;
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*result = true;
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} else {
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*linkage_undriven = 0.0;
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}
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if (*linkage > 0.0) {
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*result = true;
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}
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}
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// Some functions use 0 to detect a failure
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@ -24,7 +24,7 @@
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#define FW_VERSION_MAJOR 6
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#define FW_VERSION_MINOR 05
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// Set to 0 for building a release and iterate during beta test builds
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#define FW_TEST_VERSION_NUMBER 17
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#define FW_TEST_VERSION_NUMBER 18
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#include "datatypes.h"
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