Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@64:b4175385d718, 2017-01-28 (annotated)

Committer:
bwang
Date:
Sat Jan 28 23:21:07 2017 +0000
Revision:
64:b4175385d718
Parent:
62:581aa9235ad6
Child:
65:6e1fdbfae57b
on gokart 1/28/2017 18:20; vd vq and integrals clamped into ellipses, correct gains, some debug statements in main()

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #include "mbed.h"
bwang 0:bac9c3a3a6ca 2 #include "math.h"
bwang 19:a6cf15f89f3d 3
bwang 0:bac9c3a3a6ca 4 #include "PositionSensor.h"
bwang 0:bac9c3a3a6ca 5 #include "FastPWM.h"
bwang 18:3863ca45cf26 6 #include "PwmIn.h"
bwang 19:a6cf15f89f3d 7 #include "MathHelpers.h"
bwang 42:030e0ec4eac5 8 #include "Transforms.h"
bwang 42:030e0ec4eac5 9 #include "DQMapper.h"
bwang 42:030e0ec4eac5 10 #include "ThrottleMapper.h"
bwang 42:030e0ec4eac5 11
bwang 42:030e0ec4eac5 12 #include "BREMSStructs.h"
bwang 42:030e0ec4eac5 13 #include "BREMSConfig.h"
bwang 30:c25c5bf0d951 14
bwang 15:b583cd30b063 15 #include "config_motor.h"
bwang 15:b583cd30b063 16 #include "config_loop.h"
bwang 19:a6cf15f89f3d 17 #include "config_pins.h"
bwang 15:b583cd30b063 18 #include "config_inverter.h"
bwang 29:50e6e4e46580 19 #include "config_driving.h"
bwang 0:bac9c3a3a6ca 20
bwang 42:030e0ec4eac5 21 #include "main.h"
bwang 0:bac9c3a3a6ca 22
bwang 42:030e0ec4eac5 23 IOStruct io;
bwang 42:030e0ec4eac5 24 ReadDataStruct read;
bwang 42:030e0ec4eac5 25 FOCStruct foc;
bwang 42:030e0ec4eac5 26 ControlStruct control;
bwang 2:eabe8feaaabb 27
bwang 42:030e0ec4eac5 28 DQMapper *dq;
bwang 42:030e0ec4eac5 29 ThrottleMapper *th;
bwang 2:eabe8feaaabb 30
bwang 44:3fd6a43b91f0 31 int loop_counter = 0;
bwang 25:3f2b585ae72d 32 bool control_enabled = false;
dicarloj 13:41d102a53caf 33
bwang 42:030e0ec4eac5 34 void update_velocity() {
bwang 42:030e0ec4eac5 35 read.last_p_mech = read.p_mech;
bwang 42:030e0ec4eac5 36 read.p_mech = io.pos->GetMechPosition();
bwang 44:3fd6a43b91f0 37
bwang 42:030e0ec4eac5 38 float dp_mech = read.p_mech - read.last_p_mech;
bwang 42:030e0ec4eac5 39 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 42:030e0ec4eac5 40 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 44:3fd6a43b91f0 41
bwang 42:030e0ec4eac5 42 float w_raw = dp_mech * F_SW; //rad/s
bwang 42:030e0ec4eac5 43 if (w_raw > W_CRAZY) w_raw = read.w; //with this limiting scheme noise < 0
bwang 42:030e0ec4eac5 44 if (w_raw < -W_CRAZY) w_raw = read.w; //so we need to throw out the large deltas first
bwang 44:3fd6a43b91f0 45
bwang 44:3fd6a43b91f0 46 read.w = update_filter(read.w, w_raw, W_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 47 }
bwang 2:eabe8feaaabb 48
bwang 42:030e0ec4eac5 49 void commutate() {
bwang 56:c681001dfa46 50 /*safety checks, do we do anything this cycle?*/
bwang 56:c681001dfa46 51 if (!control_enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
bwang 52:fd3d8df99287 52 go_enabled();
bwang 52:fd3d8df99287 53 }
bwang 42:030e0ec4eac5 54
bwang 42:030e0ec4eac5 55 /*update velocity, references*/
bwang 42:030e0ec4eac5 56 update_velocity();
bwang 44:3fd6a43b91f0 57 if (loop_counter % SLOW_LOOP_COUNTER == 0) {
bwang 44:3fd6a43b91f0 58 loop_counter = 0;
bwang 44:3fd6a43b91f0 59 slow_loop();
bwang 44:3fd6a43b91f0 60 }
bwang 44:3fd6a43b91f0 61 loop_counter++;
bwang 42:030e0ec4eac5 62
bwang 42:030e0ec4eac5 63 /*update position, sin, cos*/
bwang 42:030e0ec4eac5 64 foc.p = io.pos->GetElecPosition() - POS_OFFSET;
bwang 42:030e0ec4eac5 65 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 66 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 67
bwang 49:da8604278d76 68 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 42:030e0ec4eac5 69 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 70 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 71
bwang 42:030e0ec4eac5 72 /*compute d, q*/
bwang 42:030e0ec4eac5 73 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 74 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 75
bwang 42:030e0ec4eac5 76 /*PI controller*/
bwang 44:3fd6a43b91f0 77 control.d_filtered = update_filter(control.d_filtered, foc.d, DQ_FILTER_STRENGTH);
bwang 44:3fd6a43b91f0 78 control.q_filtered = update_filter(control.q_filtered, foc.q, DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 79
bwang 42:030e0ec4eac5 80 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 81 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 82
bwang 58:7316c5a4c417 83 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 84 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 85
bwang 64:b4175385d718 86 //control.d_integral = constrain(control.d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 64:b4175385d718 87 //control.q_integral = constrain(control.q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 64:b4175385d718 88 constrain_norm(&control.d_integral, &control.q_integral, 0.5f, 1.0f, 1.0f);
bwang 42:030e0ec4eac5 89
bwang 58:7316c5a4c417 90 foc.vd = KP_D * d_err + control.d_integral;// - Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
bwang 58:7316c5a4c417 91 foc.vq = KP_Q * q_err + control.q_integral;// + Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 92
bwang 64:b4175385d718 93 //foc.vd = constrain(foc.vd, -1.0f, 1.0f);
bwang 64:b4175385d718 94 //foc.vq = constrain(foc.vq, -1.0f, 1.0f);
bwang 64:b4175385d718 95 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f);
bwang 42:030e0ec4eac5 96
bwang 42:030e0ec4eac5 97 if (!control_enabled) {
bwang 42:030e0ec4eac5 98 foc.vd = 0.0f;
bwang 42:030e0ec4eac5 99 foc.vq = 0.0f;
bwang 42:030e0ec4eac5 100 }
bwang 42:030e0ec4eac5 101
bwang 42:030e0ec4eac5 102 /*inverse transforms*/
bwang 42:030e0ec4eac5 103 invpark(foc.vd, foc.vq, sin_p, cos_p, &foc.valpha, &foc.vbeta);
bwang 42:030e0ec4eac5 104
bwang 42:030e0ec4eac5 105 float va, vb, vc, voff;
bwang 42:030e0ec4eac5 106
bwang 42:030e0ec4eac5 107 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 42:030e0ec4eac5 108 vc = -va - vb;
bwang 42:030e0ec4eac5 109
bwang 42:030e0ec4eac5 110 /*SVPWM*/
bwang 44:3fd6a43b91f0 111 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 42:030e0ec4eac5 112 va = va - voff;
bwang 42:030e0ec4eac5 113 vb = vb - voff;
bwang 42:030e0ec4eac5 114 vc = vc - voff;
bwang 42:030e0ec4eac5 115
bwang 56:c681001dfa46 116 /*safety checks, reset integral*/
bwang 56:c681001dfa46 117 if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
bwang 56:c681001dfa46 118 /*do this even in disabled state, to keep integral down*/
bwang 56:c681001dfa46 119 go_disabled();
bwang 56:c681001dfa46 120 }
bwang 56:c681001dfa46 121
bwang 42:030e0ec4eac5 122 /*output to timers*/
bwang 47:1c9868e226d0 123 set_dtc(io.a, 0.5f + 0.5f * va);
bwang 47:1c9868e226d0 124 set_dtc(io.b, 0.5f + 0.5f * vb);
bwang 47:1c9868e226d0 125 set_dtc(io.c, 0.5f + 0.5f * vc);
bwang 42:030e0ec4eac5 126 }
bwang 42:030e0ec4eac5 127
bwang 44:3fd6a43b91f0 128 void slow_loop() {
bwang 44:3fd6a43b91f0 129 float torque_percent = th->map(io.throttle_in->get_throttle(), read.w);
bwang 44:3fd6a43b91f0 130 dq->map(torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 44:3fd6a43b91f0 131 }
bwang 44:3fd6a43b91f0 132
bwang 42:030e0ec4eac5 133 void go_enabled() {
bwang 42:030e0ec4eac5 134 control_enabled = true;
bwang 42:030e0ec4eac5 135 io.en->write(1);
bwang 42:030e0ec4eac5 136 }
bwang 42:030e0ec4eac5 137
bwang 42:030e0ec4eac5 138 void go_disabled() {
bwang 52:fd3d8df99287 139 control.d_integral = 0.0f;
bwang 52:fd3d8df99287 140 control.q_integral = 0.0f;
bwang 42:030e0ec4eac5 141 control_enabled = false;
bwang 42:030e0ec4eac5 142 io.en->write(0);
bwang 42:030e0ec4eac5 143 }
bwang 42:030e0ec4eac5 144
bwang 52:fd3d8df99287 145 bool is_driving() {
bwang 55:3568b78dc203 146 return io.throttle_in->get_throttle() > 0.01f || fabsf(read.w) > W_SAFE;
bwang 52:fd3d8df99287 147 }
bwang 52:fd3d8df99287 148
bwang 44:3fd6a43b91f0 149 float update_filter(float old, float x, float str) {
bwang 42:030e0ec4eac5 150 return str * old + (1.0f - str) * x;
bwang 42:030e0ec4eac5 151 }
dicarloj 13:41d102a53caf 152
bwang 1:7b61790f6be9 153 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 154 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 155 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 156 volatile int delay;
bwang 4:a6669248ce4d 157 for (delay = 0; delay < 35; delay++);
bwang 42:030e0ec4eac5 158 read.adval1 = ADC1->DR;
bwang 42:030e0ec4eac5 159 read.adval2 = ADC2->DR;
bwang 4:a6669248ce4d 160 commutate();
bwang 1:7b61790f6be9 161 }
bwang 1:7b61790f6be9 162 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 163 }
bwang 1:7b61790f6be9 164
bwang 0:bac9c3a3a6ca 165 int main() {
bwang 59:0416da6c3060 166 dq = new LutMapper();
bwang 45:cf8ad81fb0f0 167 th = new NullThrottleMapper();
bwang 47:1c9868e226d0 168 BREMSInit(&io, &read, &foc, &control, false);
bwang 48:a1a09c83d42c 169
bwang 0:bac9c3a3a6ca 170 for (;;) {
bwang 64:b4175385d718 171 /*
bwang 64:b4175385d718 172 io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n\r", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (256 * io.throttle_in->get_throttle()),
bwang 64:b4175385d718 173 (int) (256 * control.d_integral), (int) (256 * control.q_integral));
bwang 64:b4175385d718 174 */
bwang 64:b4175385d718 175 io.pc->printf("%f\n", .0743f*read.w);
bwang 61:85a31897e719 176 wait(0.01);
bwang 0:bac9c3a3a6ca 177 }
bwang 42:030e0ec4eac5 178 }