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Fixed measured MTPA mode, send ld_lq_diff detection result

This commit is contained in:
Benjamin Vedder 2021-11-21 18:17:40 +01:00
parent fd48dc2644
commit f6e78a09b6
9 changed files with 39 additions and 21 deletions
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4
commands.c
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@ -1919,7 +1919,8 @@ static THD_FUNCTION(blocking_thread, arg) {
float r = 0.0; float r = 0.0;
float l = 0.0; float l = 0.0;
bool res = mcpwm_foc_measure_res_ind(&r, &l); float ld_lq_diff = 0.0;
bool res = mcpwm_foc_measure_res_ind(&r, &l, &ld_lq_diff);
mc_interface_set_configuration(mcconf_old); mc_interface_set_configuration(mcconf_old);
if (!res) { if (!res) {
@ -1931,6 +1932,7 @@ static THD_FUNCTION(blocking_thread, arg) {
send_buffer[ind++] = COMM_DETECT_MOTOR_R_L; send_buffer[ind++] = COMM_DETECT_MOTOR_R_L;
buffer_append_float32(send_buffer, r, 1e6, &ind); buffer_append_float32(send_buffer, r, 1e6, &ind);
buffer_append_float32(send_buffer, l, 1e3, &ind); buffer_append_float32(send_buffer, l, 1e3, &ind);
buffer_append_float32(send_buffer, ld_lq_diff, 1e3, &ind);
if (send_func_blocking) { if (send_func_blocking) {
send_func_blocking(send_buffer, ind); send_func_blocking(send_buffer, ind);
} }

2
conf_general.h
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@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 5 #define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 03 #define FW_VERSION_MINOR 03
// Set to 0 for building a release and iterate during beta test builds // Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 65 #define FW_TEST_VERSION_NUMBER 68
#include "datatypes.h" #include "datatypes.h"

3
confgenerator.c
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@ -176,6 +176,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
buffer[ind++] = conf->si_battery_type; buffer[ind++] = conf->si_battery_type;
buffer[ind++] = (uint8_t)conf->si_battery_cells; buffer[ind++] = (uint8_t)conf->si_battery_cells;
buffer_append_float32_auto(buffer, conf->si_battery_ah, &ind); buffer_append_float32_auto(buffer, conf->si_battery_ah, &ind);
buffer_append_float32_auto(buffer, conf->si_motor_nl_current, &ind);
buffer[ind++] = conf->bms.type; buffer[ind++] = conf->bms.type;
buffer_append_float16(buffer, conf->bms.t_limit_start, 100, &ind); buffer_append_float16(buffer, conf->bms.t_limit_start, 100, &ind);
buffer_append_float16(buffer, conf->bms.t_limit_end, 100, &ind); buffer_append_float16(buffer, conf->bms.t_limit_end, 100, &ind);
@ -542,6 +543,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
conf->si_battery_type = buffer[ind++]; conf->si_battery_type = buffer[ind++];
conf->si_battery_cells = buffer[ind++]; conf->si_battery_cells = buffer[ind++];
conf->si_battery_ah = buffer_get_float32_auto(buffer, &ind); conf->si_battery_ah = buffer_get_float32_auto(buffer, &ind);
conf->si_motor_nl_current = buffer_get_float32_auto(buffer, &ind);
conf->bms.type = buffer[ind++]; conf->bms.type = buffer[ind++];
conf->bms.t_limit_start = buffer_get_float16(buffer, 100, &ind); conf->bms.t_limit_start = buffer_get_float16(buffer, 100, &ind);
conf->bms.t_limit_end = buffer_get_float16(buffer, 100, &ind); conf->bms.t_limit_end = buffer_get_float16(buffer, 100, &ind);
@ -904,6 +906,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
conf->si_battery_type = MCCONF_SI_BATTERY_TYPE; conf->si_battery_type = MCCONF_SI_BATTERY_TYPE;
conf->si_battery_cells = MCCONF_SI_BATTERY_CELLS; conf->si_battery_cells = MCCONF_SI_BATTERY_CELLS;
conf->si_battery_ah = MCCONF_SI_BATTERY_AH; conf->si_battery_ah = MCCONF_SI_BATTERY_AH;
conf->si_motor_nl_current = MCCONF_SI_MOTOR_NL_CURRENT;
conf->bms.type = MCCONF_BMS_TYPE; conf->bms.type = MCCONF_BMS_TYPE;
conf->bms.t_limit_start = MCCONF_BMS_T_LIMIT_START; conf->bms.t_limit_start = MCCONF_BMS_T_LIMIT_START;
conf->bms.t_limit_end = MCCONF_BMS_T_LIMIT_END; conf->bms.t_limit_end = MCCONF_BMS_T_LIMIT_END;

2
confgenerator.h
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@ -8,7 +8,7 @@
#include <stdbool.h> #include <stdbool.h>
// Constants // Constants
#define MCCONF_SIGNATURE 526273576 #define MCCONF_SIGNATURE 2686986464
#define APPCONF_SIGNATURE 763356168 #define APPCONF_SIGNATURE 763356168
// Functions // Functions

1
datatypes.h
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@ -486,6 +486,7 @@ typedef struct {
BATTERY_TYPE si_battery_type; BATTERY_TYPE si_battery_type;
int si_battery_cells; int si_battery_cells;
float si_battery_ah; float si_battery_ah;
float si_motor_nl_current;
// BMS Configuration // BMS Configuration
bms_config bms; bms_config bms;

3
mcconf/mcconf_default.h
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@ -544,6 +544,9 @@
#ifndef MCCONF_SI_BATTERY_AH #ifndef MCCONF_SI_BATTERY_AH
#define MCCONF_SI_BATTERY_AH 6.0 // Battery amp hours #define MCCONF_SI_BATTERY_AH 6.0 // Battery amp hours
#endif #endif
#ifndef MCCONF_SI_MOTOR_NL_CURRENT
#define MCCONF_SI_MOTOR_NL_CURRENT 1.0 // Motor no load current
#endif
// BMS // BMS
#ifndef MCCONF_BMS_TYPE #ifndef MCCONF_BMS_TYPE

36
mcpwm_foc.c
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@ -1983,10 +1983,13 @@ float mcpwm_foc_measure_inductance_current(float curr_goal, int samples, float *
* @param ind * @param ind
* The measured inductance in microhenry. * The measured inductance in microhenry.
* *
* @param ld_lq_diff
* The measured difference in D axis and Q axis inductance.
*
* @return * @return
* True if the measurement succeeded, false otherwise. * True if the measurement succeeded, false otherwise.
*/ */
bool mcpwm_foc_measure_res_ind(float *res, float *ind) { bool mcpwm_foc_measure_res_ind(float *res, float *ind, float *ld_lq_diff) {
volatile motor_all_state_t *motor = motor_now(); volatile motor_all_state_t *motor = motor_now();
const float f_sw_old = motor->m_conf->foc_f_sw; const float f_sw_old = motor->m_conf->foc_f_sw;
@ -2015,7 +2018,7 @@ bool mcpwm_foc_measure_res_ind(float *res, float *ind) {
*res = mcpwm_foc_measure_resistance(i_last, 200, true); *res = mcpwm_foc_measure_resistance(i_last, 200, true);
motor->m_conf->foc_motor_r = *res; motor->m_conf->foc_motor_r = *res;
*ind = mcpwm_foc_measure_inductance_current(i_last, 200, 0, 0); *ind = mcpwm_foc_measure_inductance_current(i_last, 200, 0, ld_lq_diff);
motor->m_conf->foc_f_sw = f_sw_old; motor->m_conf->foc_f_sw = f_sw_old;
motor->m_conf->foc_current_kp = kp_old; motor->m_conf->foc_current_kp = kp_old;
@ -2859,7 +2862,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
float iq_ref = iq_set_tmp; float iq_ref = iq_set_tmp;
if (conf_now->foc_mtpa_mode == MTPA_MODE_IQ_MEASURED) { if (conf_now->foc_mtpa_mode == MTPA_MODE_IQ_MEASURED) {
iq_ref = motor_now->m_motor_state.iq_filter; iq_ref = utils_min_abs(iq_set_tmp, motor_now->m_motor_state.iq_filter);
} }
id_set_tmp = (lambda - sqrtf(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(iq_ref))) / (4.0 * ld_lq_diff); id_set_tmp = (lambda - sqrtf(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(iq_ref))) / (4.0 * ld_lq_diff);
@ -3715,7 +3718,9 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
// Park transform: transforms the currents from stator to the rotor reference frame // Park transform: transforms the currents from stator to the rotor reference frame
state_m->id = c * state_m->i_alpha + s * state_m->i_beta; state_m->id = c * state_m->i_alpha + s * state_m->i_beta;
state_m->iq = c * state_m->i_beta - s * state_m->i_alpha; state_m->iq = c * state_m->i_beta - s * state_m->i_alpha;
UTILS_LP_FAST(state_m->id_filter, state_m->id, conf_now->foc_current_filter_const); //Low passed currents are used for less time critical parts, not for the feedback
// Low passed currents are used for less time critical parts, not for the feedback
UTILS_LP_FAST(state_m->id_filter, state_m->id, conf_now->foc_current_filter_const);
UTILS_LP_FAST(state_m->iq_filter, state_m->iq, conf_now->foc_current_filter_const); UTILS_LP_FAST(state_m->iq_filter, state_m->iq, conf_now->foc_current_filter_const);
float d_gain_scale = 1.0; float d_gain_scale = 1.0;
@ -3749,10 +3754,11 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
state_m->vd_int += Ierr_d * (ki * d_gain_scale * dt); state_m->vd_int += Ierr_d * (ki * d_gain_scale * dt);
state_m->vq_int += Ierr_q * (ki * dt); state_m->vq_int += Ierr_q * (ki * dt);
// Decoupling. Using feedforward this compensates for the fact that the equations of a PMSM are not really decoupled (the d axis current has impact on q axis voltage and visa-versa): // Decoupling. Using feedforward this compensates for the fact that the equations of a PMSM
// are not really decoupled (the d axis current has impact on q axis voltage and visa-versa):
// Resistance Inductance Cross terms Back-EMF (see www.mathworks.com/help/physmod/sps/ref/pmsm.html) // Resistance Inductance Cross terms Back-EMF (see www.mathworks.com/help/physmod/sps/ref/pmsm.html)
//vd = Rs*id + Ld*did/dt − ωe*iq*Lq // vd = Rs*id + Ld*did/dt − ωe*iq*Lq
//vq = Rs*iq + Lq*diq/dt + ωe*id*Ld + ωe*ψm // vq = Rs*iq + Lq*diq/dt + ωe*id*Ld + ωe*ψm
float dec_vd = 0.0; float dec_vd = 0.0;
float dec_vq = 0.0; float dec_vq = 0.0;
float dec_bemf = 0.0; float dec_bemf = 0.0;
@ -3763,7 +3769,7 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
switch (conf_now->foc_cc_decoupling) { switch (conf_now->foc_cc_decoupling) {
case FOC_CC_DECOUPLING_CROSS: case FOC_CC_DECOUPLING_CROSS:
dec_vd = state_m->iq_filter * motor->m_speed_est_fast * lq; //m_speed_est_fast is ωe in [rad/s] dec_vd = state_m->iq_filter * motor->m_speed_est_fast * lq; // m_speed_est_fast is ωe in [rad/s]
dec_vq = state_m->id_filter * motor->m_speed_est_fast * ld; dec_vq = state_m->id_filter * motor->m_speed_est_fast * ld;
break; break;
@ -3785,7 +3791,8 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
state_m->vd -= dec_vd; //Negative sign as in the PMSM equations state_m->vd -= dec_vd; //Negative sign as in the PMSM equations
state_m->vq += dec_vq + dec_bemf; state_m->vq += dec_vq + dec_bemf;
//Calculate the max length of the voltage space vector without overmodulation. Is simply 1/sqrt(3) * v_bus. See https://microchipdeveloper.com/mct5001:start. Adds margin with max_duty. // Calculate the max length of the voltage space vector without overmodulation.
// Is simply 1/sqrt(3) * v_bus. See https://microchipdeveloper.com/mct5001:start. Adds margin with max_duty.
float max_v_mag = ONE_BY_SQRT3 * max_duty * state_m->v_bus; float max_v_mag = ONE_BY_SQRT3 * max_duty * state_m->v_bus;
// Saturation and anti-windup. Notice that the d-axis has priority as it controls field // Saturation and anti-windup. Notice that the d-axis has priority as it controls field
@ -3905,7 +3912,8 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
uint32_t duty1, duty2, duty3, top; uint32_t duty1, duty2, duty3, top;
top = TIM1->ARR; top = TIM1->ARR;
// Calculate the duty cycles for all the phases. This also injects a zero modulation signal to be able to fully utilize the bus voltage. See https://microchipdeveloper.com/mct5001:start. // Calculate the duty cycles for all the phases. This also injects a zero modulation signal to
// be able to fully utilize the bus voltage. See https://microchipdeveloper.com/mct5001:start
svm(mod_alpha, mod_beta, top, &duty1, &duty2, &duty3, (uint32_t*)&state_m->svm_sector); svm(mod_alpha, mod_beta, top, &duty1, &duty2, &duty3, (uint32_t*)&state_m->svm_sector);
if (motor == &m_motor_1) { if (motor == &m_motor_1) {
@ -3980,8 +3988,8 @@ static void update_valpha_vbeta(volatile motor_all_state_t *motor, float mod_alp
const float ib_filter = -0.5 * i_alpha_filter + SQRT3_BY_2 * i_beta_filter; const float ib_filter = -0.5 * i_alpha_filter + SQRT3_BY_2 * i_beta_filter;
const float ic_filter = -0.5 * i_alpha_filter - SQRT3_BY_2 * i_beta_filter; const float ic_filter = -0.5 * i_alpha_filter - SQRT3_BY_2 * i_beta_filter;
/* mod_alpha_sign = 2/3*sign(ia) - 1/3*sign(ib) - 1/3*sign(ic) */ // mod_alpha_sign = 2/3*sign(ia) - 1/3*sign(ib) - 1/3*sign(ic)
/* mod_beta_sign = 1/sqrt(3)*sign(ib) - 1/sqrt(3)*sign(ic) */ // mod_beta_sign = 1/sqrt(3)*sign(ib) - 1/sqrt(3)*sign(ic)
const float mod_alpha_filter_sgn = (1.0 / 3.0) * (2.0 * SIGN(ia_filter) - SIGN(ib_filter) - SIGN(ic_filter)); const float mod_alpha_filter_sgn = (1.0 / 3.0) * (2.0 * SIGN(ia_filter) - SIGN(ib_filter) - SIGN(ic_filter));
const float mod_beta_filter_sgn = ONE_BY_SQRT3 * (SIGN(ib_filter) - SIGN(ic_filter)); const float mod_beta_filter_sgn = ONE_BY_SQRT3 * (SIGN(ib_filter) - SIGN(ic_filter));
@ -3998,8 +4006,8 @@ static void update_valpha_vbeta(volatile motor_all_state_t *motor, float mod_alp
state_m->mod_alpha_measured = mod_alpha; state_m->mod_alpha_measured = mod_alpha;
state_m->mod_beta_measured = mod_beta; state_m->mod_beta_measured = mod_beta;
/* v_alpha = 2/3*Va - 1/3*Vb - 1/3*Vc */ // v_alpha = 2/3*Va - 1/3*Vb - 1/3*Vc
/* v_beta = 1/sqrt(3)*Vb - 1/sqrt(3)*Vc */ // v_beta = 1/sqrt(3)*Vb - 1/sqrt(3)*Vc
float v_alpha = (1.0 / 3.0) * (2.0 * Va - Vb - Vc); float v_alpha = (1.0 / 3.0) * (2.0 * Va - Vb - Vc);
float v_beta = ONE_BY_SQRT3 * (Vb - Vc); float v_beta = ONE_BY_SQRT3 * (Vb - Vc);

2
mcpwm_foc.h
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@ -77,7 +77,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
float mcpwm_foc_measure_resistance(float current, int samples, bool stop_after); float mcpwm_foc_measure_resistance(float current, int samples, bool stop_after);
float mcpwm_foc_measure_inductance(float duty, int samples, float *curr, float *ld_lq_diff); float mcpwm_foc_measure_inductance(float duty, int samples, float *curr, float *ld_lq_diff);
float mcpwm_foc_measure_inductance_current(float curr_goal, int samples, float *curr, float *ld_lq_diff); float mcpwm_foc_measure_inductance_current(float curr_goal, int samples, float *curr, float *ld_lq_diff);
bool mcpwm_foc_measure_res_ind(float *res, float *ind); bool mcpwm_foc_measure_res_ind(float *res, float *ind, float *ld_lq_diff);
bool mcpwm_foc_hall_detect(float current, uint8_t *hall_table); bool mcpwm_foc_hall_detect(float current, uint8_t *hall_table);
int mcpwm_foc_dc_cal(bool cal_undriven); int mcpwm_foc_dc_cal(bool cal_undriven);
void mcpwm_foc_print_state(void); void mcpwm_foc_print_state(void);

5
terminal.c
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@ -422,9 +422,10 @@ void terminal_process_string(char *str) {
float res = 0.0; float res = 0.0;
float ind = 0.0; float ind = 0.0;
mcpwm_foc_measure_res_ind(&res, &ind); float ld_lq_diff = 0.0;
mcpwm_foc_measure_res_ind(&res, &ind, &ld_lq_diff);
commands_printf("Resistance: %.6f ohm", (double)res); commands_printf("Resistance: %.6f ohm", (double)res);
commands_printf("Inductance: %.2f microhenry\n", (double)ind); commands_printf("Inductance: %.2f uH (Lq-Ld: %.2f uH)\n", (double)ind, (double)ld_lq_diff);
mc_interface_set_configuration(mcconf_old); mc_interface_set_configuration(mcconf_old);