| /**************************************************************************** |
| * libs/libdsp/lib_svm_b16.c |
| * |
| * 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. |
| * |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * Included Files |
| ****************************************************************************/ |
| |
| #include <dspb16.h> |
| #include <string.h> |
| |
| /**************************************************************************** |
| * Private Functions |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * Name: svm3_sector_get_b16 |
| * |
| * Description: |
| * Get current sector for space vector modulation. |
| * |
| * Input Parameters: |
| * ijk - (in) pointer to the auxiliary ABC frame |
| * |
| * Returned Value: |
| * None |
| * |
| ****************************************************************************/ |
| |
| static uint8_t svm3_sector_get_b16(FAR abc_frame_b16_t *ijk) |
| { |
| uint8_t sector = 0; |
| b16_t i = ijk->a; |
| b16_t j = ijk->b; |
| b16_t k = ijk->c; |
| |
| /* Identify the correct sector based on i,j,k frame: |
| * 1. sector 1: |
| * i > 0.0 |
| * j > 0.0 |
| * k <= 0.0 |
| * 2. sector 2: |
| * i <= 0.0 |
| * j > 0.0 |
| * k <= 0.0 |
| * 3. sector 3: |
| * i <= 0.0 |
| * j > 0.0 |
| * k > 0.0 |
| * 4. sector 4: |
| * i <= 0.0 |
| * j <= 0.0 |
| * k > 0.0 |
| * 5. sector 5: |
| * i > 0.0 |
| * j <= 0.0 |
| * k > 0.0 |
| * 6. sector 6: |
| * i > 0.0 |
| * j <= 0.0 |
| * k <= 0.0 |
| */ |
| |
| if (k <= 0) |
| { |
| if (i <= 0) |
| { |
| sector = 2; |
| } |
| else |
| { |
| if (j <= 0) |
| { |
| sector = 6; |
| } |
| else |
| { |
| sector = 1; |
| } |
| } |
| } |
| else |
| { |
| if (i <= 0) |
| { |
| if (j <= 0) |
| { |
| sector = 4; |
| } |
| else |
| { |
| sector = 3; |
| } |
| } |
| else |
| { |
| sector = 5; |
| } |
| } |
| |
| /* Return SVM sector */ |
| |
| return sector; |
| } |
| |
| /**************************************************************************** |
| * Name: svm3_duty_calc_b16 |
| * |
| * Description: |
| * Calculate duty cycles for space vector modulation. |
| * |
| * Input Parameters: |
| * s - (in/out) pointer to the SVM state data |
| * ijk - (in) pointer to the auxiliary ABC frame |
| * |
| * Returned Value: |
| * None |
| * |
| ****************************************************************************/ |
| |
| static void svm3_duty_calc_b16(FAR struct svm3_state_b16_s *s, |
| FAR abc_frame_b16_t *ijk) |
| { |
| b16_t i = ijk->a; |
| b16_t j = ijk->b; |
| b16_t k = ijk->c; |
| b16_t T0 = 0; |
| b16_t T1 = 0; |
| b16_t T2 = 0; |
| |
| /* Determine T1, T2 and T0 based on the sector */ |
| |
| switch (s->sector) |
| { |
| case 1: |
| { |
| T1 = i; |
| T2 = j; |
| break; |
| } |
| |
| case 2: |
| { |
| T1 = -k; |
| T2 = -i; |
| break; |
| } |
| |
| case 3: |
| { |
| T1 = j; |
| T2 = k; |
| break; |
| } |
| |
| case 4: |
| { |
| T1 = -i; |
| T2 = -j; |
| break; |
| } |
| |
| case 5: |
| { |
| T1 = k; |
| T2 = i; |
| break; |
| } |
| |
| case 6: |
| { |
| T1 = -j; |
| T2 = -k; |
| break; |
| } |
| |
| default: |
| { |
| /* We should not get here */ |
| |
| LIBDSP_DEBUGASSERT(0); |
| break; |
| } |
| } |
| |
| /* Get null vector time */ |
| |
| T0 = b16ONE - T1 - T2; |
| |
| /* Calculate duty cycle for 3 phase */ |
| |
| switch (s->sector) |
| { |
| case 1: |
| { |
| s->d_u = T1 + T2 + b16mulb16(T0, b16HALF); |
| s->d_v = T2 + b16mulb16(T0, b16HALF); |
| s->d_w = b16mulb16(T0, b16HALF); |
| break; |
| } |
| |
| case 2: |
| { |
| s->d_u = T1 + b16mulb16(T0, b16HALF); |
| s->d_v = T1 + T2 + b16mulb16(T0, b16HALF); |
| s->d_w = b16mulb16(T0, b16HALF); |
| break; |
| } |
| |
| case 3: |
| { |
| s->d_u = b16mulb16(T0, b16HALF); |
| s->d_v = T1 + T2 + b16mulb16(T0, b16HALF); |
| s->d_w = T2 + b16mulb16(T0, b16HALF); |
| break; |
| } |
| |
| case 4: |
| { |
| s->d_u = b16mulb16(T0, b16HALF); |
| s->d_v = T1 + b16mulb16(T0, b16HALF); |
| s->d_w = T1 + T2 + b16mulb16(T0, b16HALF); |
| break; |
| } |
| |
| case 5: |
| { |
| s->d_u = T2 + b16mulb16(T0, b16HALF); |
| s->d_v = b16mulb16(T0, b16HALF); |
| s->d_w = T1 + T2 + b16mulb16(T0, b16HALF); |
| break; |
| } |
| |
| case 6: |
| { |
| s->d_u = T1 + T2 + b16mulb16(T0, b16HALF); |
| s->d_v = b16mulb16(T0, b16HALF); |
| s->d_w = T1 + b16mulb16(T0, b16HALF); |
| break; |
| } |
| |
| default: |
| { |
| /* We should not get here */ |
| |
| LIBDSP_DEBUGASSERT(0); |
| break; |
| } |
| } |
| } |
| |
| /**************************************************************************** |
| * Public Functions |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * Name: svm3_b16 |
| * |
| * Description: |
| * One step of the space vector modulation. |
| * This is most common of SVM with alternate-reverse null vector. |
| * |
| * Voltage vector definitions in 3-phase SVM: |
| * |
| * |---------|-----------|--------------------|-----------------| |
| * | Voltage | switching | Line to neutral | Line to line | |
| * | vector | vectors | voltage | voltage | |
| * | |-----------|--------------------|-----------------| |
| * | | a | b | c | Van | Vbn | Vcn | Vab | Vbe | Vca | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V1 | 1 | 0 | 0 | 2/3 | -1/3 | -1/3 | 1 | 0 | -1 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V2 | 1 | 1 | 0 | 1/3 | 1/3 | -2/3 | 0 | 1 | -1 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V3 | 0 | 1 | 0 | -1/3 | 2/3 | -1/3 | -1 | 1 | 0 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V4 | 0 | 1 | 1 | -2/3 | 1/3 | 1/3 | -1 | 0 | 1 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V5 | 0 | 0 | 1 | -1/3 | -1/3 | 2/3 | 0 | -1 | 1 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V6 | 1 | 0 | 1 | 1/3 | -2/3 | 1/3 | 1 | -1 | 0 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * | V7 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | |
| * |---------|---|---|---|------|------|------|-----|-----|-----| |
| * |
| * Voltage values given in relation to the bus voltage (Vbus)/ |
| * |
| * Input Parameters: |
| * s - (out) pointer to the SVM data |
| * v_ab - (in) pointer to the modulation voltage vector in alpha-beta |
| * frame, normalized to magnitude (0.0 - 1.0) |
| * |
| * NOTE: v_ab vector magnitude must be in range <0.0, 1.0> to get correct |
| * SVM3 results. |
| * |
| * REFERENCE: |
| * https://e2e.ti.com/group/motor/m/pdf_presentations/665547/download |
| * pages 32-34 |
| * |
| ****************************************************************************/ |
| |
| void svm3_b16(FAR struct svm3_state_b16_s *s, FAR ab_frame_b16_t *v_ab) |
| { |
| LIBDSP_DEBUGASSERT(s != NULL); |
| LIBDSP_DEBUGASSERT(v_ab != NULL); |
| |
| abc_frame_b16_t ijk; |
| |
| /* Perform modified inverse Clarke-transformation (alpha,beta) -> (i,j,k) |
| * to obtain auxiliary frame which will be used in further calculations. |
| */ |
| |
| ijk.a = b16mulb16(-b16HALF, v_ab->b) + b16mulb16(SQRT3_BY_TWO_B16, |
| v_ab->a); |
| ijk.b = v_ab->b; |
| ijk.c = -ijk.b - ijk.a; |
| |
| /* Get vector sector */ |
| |
| s->sector = svm3_sector_get_b16(&ijk); |
| |
| /* Get duty cycle */ |
| |
| svm3_duty_calc_b16(s, &ijk); |
| |
| /* NOTE: we return not-saturated output. Duty-cycle saturation is |
| * board-specific characteristic and we have not access to this |
| * information here. |
| */ |
| } |
| |
| /**************************************************************************** |
| * Name: svm3_current_correct_b16 |
| * |
| * Description: |
| * Correct ADC samples (int32) according to SVM3 state. |
| * NOTE: This works only with 3 shunt resistors configuration. |
| * |
| ****************************************************************************/ |
| |
| void svm3_current_correct_b16(FAR struct svm3_state_b16_s *s, |
| b16_t *c0, b16_t *c1, b16_t *c2) |
| { |
| /* Get best ADC samples according to SVM sector. |
| * |
| * In SVM phase current can be sampled only in v0 vector state, when lower |
| * bridge transistors are turned on. |
| * |
| * We ignore sample from phase which has the shortest V0 state and |
| * estimate its value with KCL for motor phases: |
| * i_a + i_b + i_c = 0 |
| */ |
| |
| switch (s->sector) |
| { |
| case 1: |
| case 6: |
| { |
| /* Sector 1-6: ignore phase 1 */ |
| |
| *c0 = -(*c1 + *c2); |
| |
| break; |
| } |
| |
| case 2: |
| case 3: |
| { |
| /* Sector 2-3: ignore phase 2 */ |
| |
| *c1 = -(*c0 + *c2); |
| |
| break; |
| } |
| |
| case 4: |
| case 5: |
| { |
| /* Sector 4-5: ignore phase 3 */ |
| |
| *c2 = -(*c0 + *c1); |
| |
| break; |
| } |
| |
| default: |
| { |
| /* We should not get here. */ |
| |
| *c0 = 0; |
| *c1 = 0; |
| *c2 = 0; |
| |
| break; |
| } |
| } |
| } |
| |
| /**************************************************************************** |
| * Name: svm3_init_b16 |
| * |
| * Description: |
| * Initialize 3-phase SVM data. |
| * |
| * Input Parameters: |
| * s - (in/out) pointer to the SVM state data |
| * |
| * Returned Value: |
| * None |
| * |
| ****************************************************************************/ |
| |
| void svm3_init_b16(FAR struct svm3_state_b16_s *s) |
| { |
| LIBDSP_DEBUGASSERT(s != NULL); |
| |
| memset(s, 0, sizeof(struct svm3_state_b16_s)); |
| } |
