| /**************************************************************************** |
| * include/dsp.h |
| * |
| * Licensed to the Apache Software Foundation (ASF) under one or more |
| * contributor license agreements. See the NOTICE file distributed with |
| * this work for additional information regarding copyright ownership. The |
| * ASF licenses this file to you under the Apache License, Version 2.0 (the |
| * "License"); you may not use this file except in compliance with the |
| * License. You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT |
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the |
| * License for the specific language governing permissions and limitations |
| * under the License. |
| * |
| ****************************************************************************/ |
| |
| #ifndef __INCLUDE_DSP_H |
| #define __INCLUDE_DSP_H |
| |
| /**************************************************************************** |
| * Included Files |
| ****************************************************************************/ |
| |
| #include <nuttx/compiler.h> |
| |
| #include <assert.h> |
| #include <stddef.h> |
| #include <stdint.h> |
| #include <stdbool.h> |
| #include <math.h> |
| |
| /**************************************************************************** |
| * Pre-processor Definitions |
| ****************************************************************************/ |
| |
| /* Disable DEBUGASSER macro if LIBDSP debug is not enabled */ |
| |
| #ifdef CONFIG_LIBDSP_DEBUG |
| # ifndef CONFIG_DEBUG_ASSERTIONS |
| # warning "Need CONFIG_DEBUG_ASSERTIONS to work properly" |
| # endif |
| # define LIBDSP_DEBUGASSERT(x) DEBUGASSERT(x) |
| #else |
| # undef LIBDSP_DEBUGASSERT |
| # define LIBDSP_DEBUGASSERT(x) |
| #endif |
| |
| #ifndef CONFIG_LIBDSP_PRECISION |
| # define CONFIG_LIBDSP_PRECISION 0 |
| #endif |
| |
| /* Phase rotation direction */ |
| |
| #define DIR_NONE (0.0f) |
| #define DIR_CW (1.0f) |
| #define DIR_CCW (-1.0f) |
| |
| /* Some math constants ******************************************************/ |
| |
| #define SQRT3_BY_TWO_F (0.866025f) |
| #define SQRT3_BY_THREE_F (0.57735f) |
| #define ONE_BY_SQRT3_F (0.57735f) |
| #define TWO_BY_SQRT3_F (1.15470f) |
| |
| /* Some lib constants *******************************************************/ |
| |
| /* These are defined only in the NuttX math library */ |
| |
| #ifndef M_PI_F |
| #define M_PI_F ((float)M_PI) |
| #endif |
| |
| #ifndef M_PI_2_F |
| #define M_PI_2_F ((float)M_PI_2) |
| #endif |
| |
| /* Motor electrical angle is in range 0.0 to 2*PI */ |
| |
| #define MOTOR_ANGLE_E_MAX (2.0f*M_PI_F) |
| #define MOTOR_ANGLE_E_MIN (0.0f) |
| #define MOTOR_ANGLE_E_RANGE (MOTOR_ANGLE_E_MAX - MOTOR_ANGLE_E_MIN) |
| |
| /* Motor mechanical angle is in range 0.0 to 2*PI */ |
| |
| #define MOTOR_ANGLE_M_MAX (2.0f*M_PI_F) |
| #define MOTOR_ANGLE_M_MIN (0.0f) |
| #define MOTOR_ANGLE_M_RANGE (MOTOR_ANGLE_M_MAX - MOTOR_ANGLE_M_MIN) |
| |
| /* Some useful macros *******************************************************/ |
| |
| /**************************************************************************** |
| * Name: LP_FILTER |
| * |
| * Description: |
| * Simple single-pole digital low pass filter: |
| * Y(n) = (1-beta)*Y(n-1) + beta*X(n) = (beta * (Y(n-1) - X(n))) |
| * |
| * filter - (0.0 - 1.0) where 1.0 gives unfiltered values |
| * filter = T * (2*PI) * f_c |
| * |
| * phase shift = -arctan(f_in/f_c) |
| * time constant = -T / (ln(1 - filter)) |
| * |
| * T - period at which the digital filter is being calculated |
| * f_in - input frequency of the filter |
| * f_c - cutoff frequency of the filter |
| * |
| * REFERENCE: https://www.embeddedrelated.com/showarticle/779.php |
| * |
| ****************************************************************************/ |
| |
| #define LP_FILTER(val, sample, filter) val -= (filter * (val - sample)) |
| |
| /**************************************************************************** |
| * Name: SVM3_BASE_VOLTAGE_GET |
| * |
| * Description: |
| * Get maximum voltage for SVM3 without overmodulation |
| * |
| * Notes: |
| * max possible phase voltage for 3-phase power inverter: |
| * Vd = (2/3)*Vdc |
| * max phase reference voltage according to SVM modulation diagram: |
| * Vrefmax = Vd * cos(30*) = SQRT3_BY_2 * Vd |
| * which give us: |
| * Vrefmax = SQRT3_BY_3 * Vdc |
| * |
| * Vdc - bus voltage |
| * |
| ****************************************************************************/ |
| |
| #define SVM3_BASE_VOLTAGE_GET(vbus) (vbus * SQRT3_BY_THREE_F) |
| |
| /**************************************************************************** |
| * Public Types |
| ****************************************************************************/ |
| |
| /* This structure represents phase angle. |
| * Besides angle value it also stores sine and cosine values for given angle. |
| */ |
| |
| struct phase_angle_f32_s |
| { |
| float angle; /* Phase angle in radians <0, 2PI> */ |
| float sin; /* Phase angle sine */ |
| float cos; /* Phase angle cosine */ |
| }; |
| |
| typedef struct phase_angle_f32_s phase_angle_f32_t; |
| |
| /* This structure stores motor angles and corresponding sin and cos values |
| * |
| * th_el = th_m * pole_pairs |
| * th_m = th_el/pole_pairs |
| * |
| * where: |
| * th_el - motor electrical angle |
| * th_m - motor mechanical angle |
| * pole_pairs - motor pole pairs |
| * |
| * NOTE: pole_pairs = poles_total/2 |
| */ |
| |
| struct motor_angle_f32_s |
| { |
| phase_angle_f32_t angle_el; /* Electrical angle */ |
| float anglem; /* Mechanical angle in radians <0, 2PI> */ |
| float one_by_p; /* Aux variable */ |
| uint8_t p; /* Number of the motor pole pairs */ |
| int8_t i; /* Pole counter */ |
| }; |
| |
| /* Float number saturaton */ |
| |
| struct float_sat_f32_s |
| { |
| float min; /* Lower limit */ |
| float max; /* Upper limit */ |
| }; |
| |
| typedef struct float_sat_f32_s float_sat_f32_t; |
| |
| /* PI/PID controller state structure */ |
| |
| struct pid_controller_f32_s |
| { |
| bool aw_en; /* Integral part decay if saturated */ |
| bool ireset_en; /* Intergral part reset if saturated */ |
| bool pisat_en; /* PI saturation enabled */ |
| bool pidsat_en; /* PID saturation enabled */ |
| bool _res; /* Reserved */ |
| float out; /* Controller output */ |
| float_sat_f32_t sat; /* Output saturation */ |
| float err; /* Current error value */ |
| float err_prev; /* Previous error value */ |
| float KP; /* Proportional coefficient */ |
| float KI; /* Integral coefficient */ |
| float KD; /* Derivative coefficient */ |
| float part[3]; /* 0 - proporitonal part |
| * 1 - integral part |
| * 2 - derivative part |
| */ |
| float KC; /* Integral anti-windup decay coefficient */ |
| float aw; /* Integral anti-windup decay part */ |
| }; |
| |
| typedef struct pid_controller_f32_s pid_controller_f32_t; |
| |
| /* This structure represents the ABC frame (3 phase vector) */ |
| |
| struct abc_frame_f32_s |
| { |
| float a; /* A component */ |
| float b; /* B component */ |
| float c; /* C component */ |
| }; |
| |
| typedef struct abc_frame_f32_s abc_frame_f32_t; |
| |
| /* This structure represents the alpha-beta frame (2 phase vector) */ |
| |
| struct ab_frame_f32_s |
| { |
| float a; /* Alpha component */ |
| float b; /* Beta component */ |
| }; |
| |
| typedef struct ab_frame_f32_s ab_frame_f32_t; |
| |
| /* This structure represent the direct-quadrature frame */ |
| |
| struct dq_frame_f32_s |
| { |
| float d; /* Driect component */ |
| float q; /* Quadrature component */ |
| }; |
| |
| typedef struct dq_frame_f32_s dq_frame_f32_t; |
| |
| /* Space Vector Modulation data for 3-phase system */ |
| |
| struct svm3_state_f32_s |
| { |
| uint8_t sector; /* Current space vector sector */ |
| float d_u; /* Duty cycle for phase U */ |
| float d_v; /* Duty cycle for phase V */ |
| float d_w; /* Duty cycle for phase W */ |
| }; |
| |
| /* Motor open-loop control data */ |
| |
| struct openloop_data_f32_s |
| { |
| float angle; /* Open-loop current angle normalized to <0.0, 2PI> */ |
| float per; /* Open-loop control execution period */ |
| }; |
| |
| /* Common motor speed observer structure */ |
| |
| struct motor_sobserver_f32_s |
| { |
| float speed; /* Estimated observer speed */ |
| float per; /* Observer execution period */ |
| |
| /* There are different types of motor observers which different |
| * sets of private data. |
| */ |
| |
| void *so; /* Speed estimation observer data */ |
| }; |
| |
| /* Common motor angle observer structure */ |
| |
| struct motor_aobserver_f32_s |
| { |
| float angle; /* Estimated observer angle */ |
| float per; /* Observer execution period */ |
| |
| /* There are different types of motor observers which different |
| * sets of private data. |
| */ |
| |
| void *ao; /* Angle estimation observer data */ |
| }; |
| |
| /* Speed observer division method data */ |
| |
| struct motor_sobserver_div_f32_s |
| { |
| float angle_diff; /* Angle difference */ |
| float angle_acc; /* Accumulated angle */ |
| float angle_prev; /* Previous angle */ |
| float one_by_dt; /* Frequency of observer execution */ |
| float cntr; /* Sample counter */ |
| float samples; /* Number of samples for observer */ |
| float filter; /* Low-pass filter for final omega */ |
| }; |
| |
| /* Speed observer PLL method data */ |
| |
| struct motor_sobserver_pll_f32_s |
| { |
| float pll_phase; |
| float pll_kp; |
| float pll_ki; |
| }; |
| |
| /* Motor Sliding Mode Observer private data */ |
| |
| struct motor_aobserver_smo_f32_s |
| { |
| float k_slide; /* Bang-bang controller gain */ |
| float err_max; /* Linear mode threshold */ |
| float one_by_err_max; /* One by err_max */ |
| float F; /* Current observer F gain (1-Ts*R/L) */ |
| float G; /* Current observer G gain (Ts/L) */ |
| float emf_lp_filter1; /* Adaptive first low pass EMF filter */ |
| float emf_lp_filter2; /* Adaptive second low pass EMF filter */ |
| ab_frame_f32_t emf; /* Estimated back-EMF */ |
| ab_frame_f32_t emf_f; /* Fitlered estimated back-EMF */ |
| ab_frame_f32_t z; /* Correction factor */ |
| ab_frame_f32_t i_est; /* Estimated idq current */ |
| ab_frame_f32_t v_err; /* v_err = v_ab - emf */ |
| ab_frame_f32_t i_err; /* i_err = i_est - i_dq */ |
| ab_frame_f32_t sign; /* Bang-bang controller sign */ |
| }; |
| |
| /* Motor Nonlinear FluxLink Observer private data */ |
| |
| struct motor_aobserver_nfo_f32_s |
| { |
| float x1; |
| float x2; |
| }; |
| |
| /* FOC initialize data */ |
| |
| struct foc_initdata_f32_s |
| { |
| float id_kp; /* KP for d current */ |
| float id_ki; /* KI for d current */ |
| float iq_kp; /* KP for q current */ |
| float iq_ki; /* KI for q current */ |
| }; |
| |
| /* Field Oriented Control (FOC) data */ |
| |
| struct foc_data_f32_s |
| { |
| abc_frame_f32_t v_abc; /* Voltage in ABC frame */ |
| ab_frame_f32_t v_ab; /* Voltage in alpha-beta frame */ |
| dq_frame_f32_t v_dq; /* Requested voltage in dq frame */ |
| ab_frame_f32_t v_ab_mod; /* Modulation voltage normalized to |
| * magnitude (0.0, 1.0) |
| */ |
| |
| abc_frame_f32_t i_abc; /* Current in ABC frame */ |
| ab_frame_f32_t i_ab; /* Current in alpha-beta frame */ |
| dq_frame_f32_t i_dq; /* Current in dq frame */ |
| dq_frame_f32_t i_dq_err; /* DQ current error */ |
| |
| dq_frame_f32_t i_dq_ref; /* Requested current for the FOC |
| * current controller |
| */ |
| |
| pid_controller_f32_t id_pid; /* Current d-axis component PI controller */ |
| pid_controller_f32_t iq_pid; /* Current q-axis component PI controller */ |
| |
| float vdq_mag_max; /* Maximum dq voltage magnitude */ |
| float vab_mod_scale; /* Voltage alpha-beta modulation scale */ |
| |
| phase_angle_f32_t angle; /* Phase angle */ |
| }; |
| |
| /* Motor physical parameters. |
| * This data structure was designed to work with BLDC/PMSM motors, |
| * but probably can be used to describe different types of motors. |
| */ |
| |
| struct motor_phy_params_f32_s |
| { |
| uint8_t p; /* Number of the motor pole pairs */ |
| float flux_link; /* Flux linkage */ |
| float res; /* Average phase-to-neutral resistance */ |
| float ind; /* Average phase-to-neutral inductance */ |
| float one_by_ind; /* Inverse phase-to-neutral inductance */ |
| float one_by_p; /* Inverse number of motor pole pairs */ |
| }; |
| |
| /* PMSM motor physical parameters */ |
| |
| struct pmsm_phy_params_f32_s |
| { |
| struct motor_phy_params_f32_s motor; /* Motor common PHY */ |
| float iner; /* Rotor inertia */ |
| float ind_d; /* d-inductance */ |
| float ind_q; /* q-inductance */ |
| float one_by_iner; /* One by inertia */ |
| float one_by_indd; /* One by Ld */ |
| float one_by_indq; /* One by Lq */ |
| }; |
| |
| /* PMSM motor model state */ |
| |
| struct pmsm_model_state_f32_s |
| { |
| /* Motor model phase current */ |
| |
| abc_frame_f32_t i_abc; |
| ab_frame_f32_t i_ab; |
| dq_frame_f32_t i_dq; |
| |
| /* Motor model phase voltage */ |
| |
| abc_frame_f32_t v_abc; |
| ab_frame_f32_t v_ab; |
| dq_frame_f32_t v_dq; |
| |
| /* Motor model angle */ |
| |
| struct motor_angle_f32_s angle; |
| |
| /* Angular speed */ |
| |
| float omega_e; |
| float omega_m; |
| }; |
| |
| /* PMSM motor model external conditions */ |
| |
| struct pmsm_model_ext_f32_s |
| { |
| float load; /* Motor model load torque */ |
| }; |
| |
| /* PMSM motor model */ |
| |
| struct pmsm_model_f32_s |
| { |
| struct pmsm_phy_params_f32_s phy; /* Motor model physical parameters */ |
| struct pmsm_model_state_f32_s state; /* Motor model state */ |
| struct pmsm_model_ext_f32_s ext; /* Motor model external conditions */ |
| float per; /* Control period */ |
| float id_int; /* Id integral part */ |
| float iq_int; /* Iq integral part */ |
| }; |
| |
| /* Average filter */ |
| |
| struct avg_filter_data_s |
| { |
| float prev_avg; /* Previous average */ |
| float k; /* k counter */ |
| }; |
| |
| /**************************************************************************** |
| * Public Functions Prototypes |
| ****************************************************************************/ |
| |
| #undef EXTERN |
| #if defined(__cplusplus) |
| #define EXTERN extern "C" |
| extern "C" |
| { |
| #else |
| #define EXTERN extern |
| #endif |
| |
| /* Math functions */ |
| |
| float fast_sin(float angle); |
| float fast_sin2(float angle); |
| float fast_cos(float angle); |
| float fast_cos2(float angle); |
| float fast_atan2(float y, float x); |
| |
| void f_saturate(FAR float *val, float min, float max); |
| |
| float vector2d_mag(float x, float y); |
| void vector2d_saturate(FAR float *x, FAR float *y, float max); |
| |
| void dq_saturate(FAR dq_frame_f32_t *dq, float max); |
| float dq_mag(FAR dq_frame_f32_t *dq); |
| |
| /* PID controller functions */ |
| |
| void pid_controller_init(FAR pid_controller_f32_t *pid, |
| float KP, float KI, float KD); |
| void pi_controller_init(FAR pid_controller_f32_t *pid, |
| float KP, float KI); |
| void pid_saturation_set(FAR pid_controller_f32_t *pid, float min, float max); |
| void pi_saturation_set(FAR pid_controller_f32_t *pid, float min, float max); |
| void pid_integral_reset(FAR pid_controller_f32_t *pid); |
| void pi_integral_reset(FAR pid_controller_f32_t *pid); |
| float pi_controller(FAR pid_controller_f32_t *pid, float err); |
| float pid_controller(FAR pid_controller_f32_t *pid, float err); |
| void pi_antiwindup_enable(FAR pid_controller_f32_t *pid, float KC, |
| bool enable); |
| void pi_ireset_enable(FAR pid_controller_f32_t *pid, bool enable); |
| |
| /* Transformation functions */ |
| |
| void clarke_transform(FAR abc_frame_f32_t *abc, FAR ab_frame_f32_t *ab); |
| void inv_clarke_transform(FAR ab_frame_f32_t *ab, FAR abc_frame_f32_t *abc); |
| void park_transform(FAR phase_angle_f32_t *angle, FAR ab_frame_f32_t *ab, |
| FAR dq_frame_f32_t *dq); |
| void inv_park_transform(FAR phase_angle_f32_t *angle, FAR dq_frame_f32_t *dq, |
| FAR ab_frame_f32_t *ab); |
| |
| /* Phase angle related functions */ |
| |
| void angle_norm(FAR float *angle, float per, float bottom, float top); |
| void angle_norm_2pi(FAR float *angle, float bottom, float top); |
| void phase_angle_update(FAR struct phase_angle_f32_s *angle, float val); |
| |
| /* 3-phase system space vector modulation */ |
| |
| void svm3_init(FAR struct svm3_state_f32_s *s); |
| void svm3(FAR struct svm3_state_f32_s *s, FAR ab_frame_f32_t *ab); |
| void svm3_current_correct(FAR struct svm3_state_f32_s *s, |
| FAR float *c0, FAR float *c1, FAR float *c2); |
| |
| /* Field Oriented Control */ |
| |
| void foc_init(FAR struct foc_data_f32_s *foc, |
| FAR struct foc_initdata_f32_s *init); |
| void foc_vbase_update(FAR struct foc_data_f32_s *foc, float vbase); |
| void foc_angle_update(FAR struct foc_data_f32_s *foc, |
| FAR phase_angle_f32_t *angle); |
| void foc_iabc_update(FAR struct foc_data_f32_s *foc, |
| FAR abc_frame_f32_t *i_abc); |
| void foc_voltage_control(FAR struct foc_data_f32_s *foc, |
| FAR dq_frame_f32_t *vdq_ref); |
| void foc_current_control(FAR struct foc_data_f32_s *foc, |
| FAR dq_frame_f32_t *idq_ref, |
| FAR dq_frame_f32_t *vdq_comp, |
| FAR dq_frame_f32_t *v_dq_ref); |
| void foc_vabmod_get(FAR struct foc_data_f32_s *foc, |
| FAR ab_frame_f32_t *v_ab_mod); |
| void foc_vdq_mag_max_get(FAR struct foc_data_f32_s *foc, FAR float *max); |
| |
| /* BLDC/PMSM motor observers */ |
| |
| void motor_sobserver_init(FAR struct motor_sobserver_f32_s *observer, |
| FAR void *so, float per); |
| void motor_aobserver_init(FAR struct motor_aobserver_f32_s *observer, |
| FAR void *ao, float per); |
| float motor_sobserver_speed_get(FAR struct motor_sobserver_f32_s *o); |
| float motor_aobserver_angle_get(FAR struct motor_aobserver_f32_s *o); |
| |
| void motor_aobserver_smo_init(FAR struct motor_aobserver_smo_f32_s *smo, |
| float kslide, float err_max); |
| void motor_aobserver_smo(FAR struct motor_aobserver_f32_s *o, |
| FAR ab_frame_f32_t *i_ab, FAR ab_frame_f32_t *v_ab, |
| FAR struct motor_phy_params_f32_s *phy, float dir, |
| float speed); |
| |
| void motor_sobserver_div_init(FAR struct motor_sobserver_div_f32_s *so, |
| uint8_t samples, float filer, float per); |
| void motor_sobserver_div(FAR struct motor_sobserver_f32_s *o, float angle); |
| |
| void motor_aobserver_nfo_init(FAR struct motor_aobserver_nfo_f32_s *nfo); |
| void motor_aobserver_nfo(FAR struct motor_aobserver_f32_s *o, |
| FAR ab_frame_f32_t *i_ab, FAR ab_frame_f32_t *v_ab, |
| FAR struct motor_phy_params_f32_s *phy, float gain); |
| |
| void motor_sobserver_pll_init(FAR struct motor_sobserver_pll_f32_s *so, |
| float pll_kp, float pll_ki); |
| void motor_sobserver_pll(FAR struct motor_sobserver_f32_s *o, float angle); |
| |
| /* Motor openloop control */ |
| |
| void motor_openloop_init(FAR struct openloop_data_f32_s *op, float per); |
| void motor_openloop(FAR struct openloop_data_f32_s *op, float speed, |
| float dir); |
| float motor_openloop_angle_get(FAR struct openloop_data_f32_s *op); |
| |
| /* Motor angle */ |
| |
| void motor_angle_init(FAR struct motor_angle_f32_s *angle, uint8_t p); |
| void motor_angle_e_update(FAR struct motor_angle_f32_s *angle, |
| float angle_new, float dir); |
| void motor_angle_m_update(FAR struct motor_angle_f32_s *angle, |
| float angle_new, float dir); |
| float motor_angle_m_get(FAR struct motor_angle_f32_s *angle); |
| float motor_angle_e_get(FAR struct motor_angle_f32_s *angle); |
| |
| /* Motor physical parameters */ |
| |
| void motor_phy_params_init(FAR struct motor_phy_params_f32_s *phy, |
| uint8_t poles, float res, float ind, |
| float fluxlink); |
| |
| /* PMSM physical parameters functions */ |
| |
| void pmsm_phy_params_init(FAR struct pmsm_phy_params_f32_s *phy, |
| uint8_t poles, float res, float ind, |
| float iner, float flux, |
| float ind_d, float ind_q); |
| |
| /* PMSM motor model */ |
| |
| int pmsm_model_initialize(FAR struct pmsm_model_f32_s *model, |
| FAR struct pmsm_phy_params_f32_s *phy, |
| float per); |
| int pmsm_model_elec(FAR struct pmsm_model_f32_s *model, |
| FAR ab_frame_f32_t *vab); |
| int pmsm_model_mech(FAR struct pmsm_model_f32_s *model, float load); |
| |
| /* Average filter */ |
| |
| void avg_filter_data_init(FAR struct avg_filter_data_s *data, |
| float prev_avg, float k); |
| float avg_filter(FAR struct avg_filter_data_s *data, float x); |
| |
| #undef EXTERN |
| #if defined(__cplusplus) |
| } |
| #endif |
| |
| #endif /* __INCLUDE_DSP_H */ |
