Ben Katz
/
Hobbyking_Cheetah_V1
FOC Implementation for putting multirotor motors in robots
SVM/SVM.cpp
- Committer:
- benkatz
- Date:
- 2016-10-31
- Revision:
- 14:80ce59119d93
- Parent:
- 10:370851e6e132
File content as of revision 14:80ce59119d93:
#include "mbed.h" #include "SVM.h" #include "Inverter.h" #define min(x,y,z) (x < y ? (x < z ? x : z) : (y < z ? y : z)) #define max(x,y,z) (x > y ? (x > z ? x : z) : (y > z ? y : z)) SPWM::SPWM(Inverter *inverter, float V_Bus){ _inverter = inverter; _V_Bus = V_Bus; } //sinusoidal PWM void SPWM::Update_DTC(float V_A, float V_B, float V_C){ float DTC_A = V_A/_V_Bus + .5f; float DTC_B = V_B/_V_Bus + .5f; float DTC_C = V_C/_V_Bus + .5f; if(DTC_A > .95f) DTC_A = .95f; else if(DTC_A < .05f) DTC_A = .05f; if(DTC_B > .95f) DTC_B = .95f; else if(DTC_B < .05f) DTC_B = .05f; if(DTC_C > .95f) DTC_C = .95f; else if(DTC_C < .05f) DTC_C = .05f; _inverter->SetDTC(DTC_A, DTC_B, DTC_C); } SVPWM::SVPWM(Inverter *inverter, float V_Bus){ _inverter = inverter; _V_Bus = V_Bus; } //space vector pwm (better bus utilization) void SVPWM::Update_DTC(float V_A, float V_B, float V_C){ float Voff = (min(V_A, V_B, V_C) + max(V_A, V_B, V_C))/2.0f; V_A = V_A - Voff; V_B = V_B - Voff; V_C = V_C - Voff; float DTC_A = V_A/_V_Bus + .5f; float DTC_B = V_B/_V_Bus + .5f; float DTC_C = V_C/_V_Bus + .5f; if(DTC_A > .95f) DTC_A = .95f; else if(DTC_A < .05f) DTC_A = .05f; if(DTC_B > .95f) DTC_B = .95f; else if(DTC_B < .05f) DTC_B = .05f; if(DTC_C > .95f) DTC_C = .95f; else if(DTC_C < .05f) DTC_C = .05f; _inverter->SetDTC(DTC_A, DTC_B, DTC_C); }