150 lines
3.9 KiB
C
150 lines
3.9 KiB
C
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#include "config.h"
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#include "delay.h"
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#include "lowpass_filter.h"
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#include "mt6701.h"
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#include "pid_control.h"
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#include "pwm.h"
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <ti_msp_dl_config.h>
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#define PI 3.14159265359f
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#define _3PI_2 4.71238898f
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#define _1_SQRT3 0.57735026919f
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#define _2_SQRT3 1.15470053838f
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#define VOLTAGE_POWER_SUPPLY 12.0f
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#define VOLTAGE_LIMIT 6
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#define PWM_COMPARE_VALUE 750.0f
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volatile float Ua = 0, Ub = 0, Uc = 0, Ualpha, Ubeta = 0, dc_a = 0, dc_b = 0,
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dc_c = 0;
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volatile float zero_electric_Angle = 0.0;
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extern int pp;
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extern int Dir;
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void Motor_en() {}
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// 限制幅值
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float constrain(float amt, float low, float high) {
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return ((amt < low) ? (low) : ((amt) > (high) ? (high) : (amt)));
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}
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// 将角度归化到0-2PI
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float normalizeAngle(float angle) {
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volatile float a = fmod(angle, 2 * PI);
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return ((a >= 0) ? a : (a + 2 * PI));
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}
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float electricAngle(void) {
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return normalizeAngle((GetAngle_NoTrack() * pp * Dir) - zero_electric_Angle);
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}
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void SetPwm(float Ua, float Ub, float Uc) {
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volatile float U_a = 0.0;
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volatile float U_b = 0.0;
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volatile float U_c = 0.0;
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U_a = constrain(Ua, 0.0f, VOLTAGE_LIMIT);
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U_b = constrain(Ub, 0.0f, VOLTAGE_LIMIT);
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U_c = constrain(Uc, 0.0f, VOLTAGE_LIMIT);
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dc_a = constrain(U_a / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
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dc_b = constrain(U_b / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
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dc_c = constrain(U_c / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
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if (DEBUG_ENABLED & DEBUG_DFOC_ENABLED) {
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printf("dc_a : %f -- dc_b : %f -- dc_c : %f \n", dc_a, dc_b, dc_c);
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}
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PWM_Channel1((1 - dc_a) * PWM_COMPARE_VALUE); // 频率15k
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PWM_Channel2((1 - dc_b) * PWM_COMPARE_VALUE);
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PWM_Channel3((1 - dc_c) * PWM_COMPARE_VALUE);
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}
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// FOC核心算法，克拉克逆变换/帕克逆变换
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volatile float test_angle = 0.0;
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volatile float last_test_angle = 0.0;
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void SetPhaseVoltage(float Uq, float Ud, float angle_el) {
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// angle_el = normalizeAngle(angle_el);
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test_angle = angle_el - last_test_angle;
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Ualpha = -Uq * sin(angle_el);
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Ubeta = Uq * cos(angle_el);
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Ua = Ualpha + VOLTAGE_POWER_SUPPLY / 2;
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Ub = (sqrt(3) * Ubeta - Ualpha) / 2 + VOLTAGE_POWER_SUPPLY / 2;
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Uc = -(Ualpha + sqrt(3) * Ubeta) / 2 + VOLTAGE_POWER_SUPPLY / 2;
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SetPwm(Ua, Ub, Uc);
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last_test_angle = angle_el;
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}
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void Check_Sensor(void) {
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// SetPhaseVoltage(3, 0, _3PI_2);
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// delay_ms(3000);
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zero_electric_Angle = electricAngle();
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printf("Check_Sensor zero_electric_Angle is %f \n", zero_electric_Angle);
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// SetPhaseVoltage(0, 0, _3PI_2);
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// delay_ms(500);
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}
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void FOC_Init() {
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// PWM_Init();
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// CurrSense_Init();
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// AS5600_Init();
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Check_Sensor();
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}
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// 单角度环
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void Set_Angle(float Target) {
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volatile float langle = GetAngle();
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if (DEBUG_ENABLED & DEBUG_DFOC_ENABLED) {
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printf("angle readback in dfoc.c is %f \n", langle);
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}
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volatile float Uq =
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PID_Controller(0.03, 0.01, 0, (Target - Dir * langle) * 180 / PI);
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// volatile float Uq = PID_Controller(0.133, 0, 0, (Target - Dir * langle) *
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// 180 / PI);
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if (DEBUG_ENABLED & DEBUG_DFOC_ENABLED) {
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printf("Uq is %f \n", Uq);
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}
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SetPhaseVoltage(Uq, 0, electricAngle());
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}
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volatile double openloop_timestamp;
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float velocityopenloop(float target) {
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volatile float Uq = 0.0;
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volatile double Ts = 0.0;
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volatile double shaft_angle;
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volatile uint32_t now_ts = DL_SYSTICK_getValue();
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if (now_ts < openloop_timestamp) {
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Ts = (openloop_timestamp - now_ts) / 80.0f * 1e-6f;
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} else {
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Ts = (0xFFFFFF - now_ts + openloop_timestamp) / 80.0f * 1e-6f;
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}
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if (Ts < 0 || Ts >= 0.005) {
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Ts = 0.001f;
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}
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shaft_angle = normalizeAngle(shaft_angle + pp * target * Ts);
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if (DEBUG_ENABLED) {
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printf("shaft_angle : %f -- Ts : %f \n", shaft_angle, Ts);
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}
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Uq = VOLTAGE_LIMIT;
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SetPhaseVoltage(Uq, 0, shaft_angle);
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openloop_timestamp = now_ts;
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return Uq;
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}
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