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Fix: Field weakening behavior

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- fixed harsh braking when input is released quickly but the motor speed is still high
- in this case field weakening behavior follows the current speed.
This commit is contained in:
EmanuelFeru
2022-03-06 11:20:42 +01:00
parent bc3b29e0a6
commit 7a0652c62e
7 changed files with 62 additions and 37 deletions
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BIN
01_Libraries/01_Controller/BLDC_controller_Lib.slx
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83
BLDC_controller_ert_rtw/BLDC_controller.c
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
@ -1019,6 +1019,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
int32_T rtb_Sum1_jt;
int16_T rtb_Merge_m;
int16_T rtb_Merge1;
uint16_T rtb_Divide14_e;
uint16_T rtb_Divide1_f;
int16_T rtb_TmpSignalConversionAtLow_Pa[2];
int32_T rtb_Switch1;
int32_T rtb_Sum1;
@ -2116,20 +2118,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Switch: '<S44>/Switch2' */
/* Switch: '<S42>/Switch2' incorporates:
* Constant: '<S1>/z_ctrlTypSel'
* Constant: '<S42>/CTRL_COMM2'
* Constant: '<S42>/a_phaAdvMax'
* Constant: '<S42>/id_fieldWeakMax'
* RelationalOperator: '<S42>/Relational Operator1'
/* Product: '<S42>/Divide14' incorporates:
* Constant: '<S42>/r_fieldWeakHi'
* Constant: '<S42>/r_fieldWeakLo'
* Sum: '<S42>/Sum1'
* Sum: '<S42>/Sum3'
*/
if (rtP->z_ctrlTypSel == 2) {
rtb_Saturation1 = rtP->id_fieldWeakMax;
} else {
rtb_Saturation1 = rtP->a_phaAdvMax;
}
/* End of Switch: '<S42>/Switch2' */
rtb_Divide14_e = (uint16_T)(((int16_T)(DataTypeConversion2 -
rtP->r_fieldWeakLo) << 15) / (int16_T)(rtP->r_fieldWeakHi -
rtP->r_fieldWeakLo));
/* Switch: '<S43>/Switch2' incorporates:
* Constant: '<S42>/n_fieldWeakAuthHi'
@ -2151,25 +2148,53 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Switch: '<S43>/Switch2' */
/* Product: '<S42>/Divide3' incorporates:
/* Product: '<S42>/Divide1' incorporates:
* Constant: '<S42>/n_fieldWeakAuthHi'
* Constant: '<S42>/n_fieldWeakAuthLo'
* Constant: '<S42>/r_fieldWeakHi'
* Constant: '<S42>/r_fieldWeakLo'
* Product: '<S42>/Divide1'
* Product: '<S42>/Divide14'
* Product: '<S42>/Divide2'
* Sum: '<S42>/Sum1'
* Sum: '<S42>/Sum2'
* Sum: '<S42>/Sum3'
* Sum: '<S42>/Sum4'
*/
rtDW->Divide3 = (int16_T)(((uint16_T)(((uint32_T)(uint16_T)(((int16_T)
(DataTypeConversion2 - rtP->r_fieldWeakLo) << 15) / (int16_T)
(rtP->r_fieldWeakHi - rtP->r_fieldWeakLo)) * (uint16_T)(((int16_T)
(rtb_Saturation - rtP->n_fieldWeakAuthLo) << 15) / (int16_T)
(rtP->n_fieldWeakAuthHi - rtP->n_fieldWeakAuthLo))) >> 15) *
rtb_Saturation1) >> 15);
rtb_Divide1_f = (uint16_T)(((int16_T)(rtb_Saturation -
rtP->n_fieldWeakAuthLo) << 15) / (int16_T)(rtP->n_fieldWeakAuthHi -
rtP->n_fieldWeakAuthLo));
/* Switch: '<S42>/Switch1' incorporates:
* MinMax: '<S42>/MinMax1'
* RelationalOperator: '<S42>/Relational Operator6'
*/
if (rtb_Divide14_e < rtb_Divide1_f) {
/* MinMax: '<S42>/MinMax' */
if (!(rtb_Divide14_e > rtb_Divide1_f)) {
rtb_Divide14_e = rtb_Divide1_f;
}
/* End of MinMax: '<S42>/MinMax' */
} else {
if (rtb_Divide1_f < rtb_Divide14_e) {
/* MinMax: '<S42>/MinMax1' */
rtb_Divide14_e = rtb_Divide1_f;
}
}
/* End of Switch: '<S42>/Switch1' */
/* Switch: '<S42>/Switch2' incorporates:
* Constant: '<S1>/z_ctrlTypSel'
* Constant: '<S42>/CTRL_COMM2'
* Constant: '<S42>/a_phaAdvMax'
* Constant: '<S42>/id_fieldWeakMax'
* RelationalOperator: '<S42>/Relational Operator1'
*/
if (rtP->z_ctrlTypSel == 2) {
rtb_Saturation1 = rtP->id_fieldWeakMax;
} else {
rtb_Saturation1 = rtP->a_phaAdvMax;
}
/* End of Switch: '<S42>/Switch2' */
/* Product: '<S42>/Divide3' */
rtDW->Divide3 = (int16_T)((rtb_Saturation1 * rtb_Divide14_e) >> 15);
/* End of Outputs for SubSystem: '<S6>/Field_Weakening_Enabled' */
}

4
BLDC_controller_ert_rtw/BLDC_controller.h
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

4
BLDC_controller_ert_rtw/BLDC_controller_data.c
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

4
BLDC_controller_ert_rtw/ert_main.c
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

4
BLDC_controller_ert_rtw/rtwtypes.h
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

BIN
BLDCmotor_FOC_R2017b_fixdt.slx
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