forked from lucysrausch/hoverboard-firmware-hack
bf9725159d
- Phase Advance is enabled only when Motor Speed > n_motPhaAdvEna (400 rpm). This prevents that during a kick-down (100% duty cycle) the Phase advance kicks in even though we are running at low speed. - This update improves the acceleration response - no impact on code execution time
194 lines
8.4 KiB
Matlab
194 lines
8.4 KiB
Matlab
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% This file is part of the hoverboard-new-firmware-hack project
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% Compared to previouse commutation method, this project offers
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% 3 more additional control method for BLDC motors.
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% The new control methods offers superior performanace
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% compared to previous method featuring:
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% >> reduced noise and vibrations
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% >> smooth torque output
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% >> improved motor efficiency -> lower energy consumption
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%
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% Author: Emanuel FERU
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% Copyright © 2019 Emanuel FERU <aerdronix@gmail.com>
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%
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% This program is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% This program is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with this program. If not, see <http://www.gnu.org/licenses/>.
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Clear workspace
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close all
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clear
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clc
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% Load model parameters
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load BLDCmotorControl_data;
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Ts = 5e-6; % [s] Model samplind time (200 kHz)
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Ts_ctrl = 6e-5; % [s] Controller samplid time (~16 kHz)
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% Ts_ctrl = 12e-5; % [s] Controller samplid time (~8 kHz)
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% BLDC control parameters
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CTRL_COMM = 0; % Commutation
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CTRL_TRAP = 1; % Pure Trapezoidal
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CTRL_SIN = 2; % Sinusoidal
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CTRL_SIN3 = 3; % Sinusoidal 3rd armonic
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z_ctrlTypSel = CTRL_SIN3; % Control method selection
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% Motor Parameters
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n_polePairs = 15; % [-] Number of pole pairs
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a_elecPeriod = 360; % [deg] Electrical angle period
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a_elecAngle = 60; % [deg] Electrical angle between two Hall sensor changing events
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a_mechAngle = a_elecAngle / n_polePairs; % [deg] Mechanical angle
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r_whl = 6.5 * 2.54 * 1e-2 / 2; % [m] Wheel radius. Diameter = 6.5 inch (1 inch = 2.54 cm)
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%% F01_Preliminary_Calculations
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% Position Calculation Parameters
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% Hall = 4*hA + 2*hB + hC
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% Hall = [0 1 2 3 4 5 6 7]
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vec_hallToPos = [0 5 3 4 1 0 2 0]; % [-] Mapping Hall signal to position
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% Speed Calculation Parameters
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f_ctrl = 1/Ts_ctrl; % [Hz] Controller frequency = 1/Ts_ctrl
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cf_speedCoef = round(f_ctrl * a_mechAngle * (pi/180) * (30/pi)); % [-] Speed calculation coefficient (factors are due to conversions rpm <-> rad/s)
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cf_speedFilt = 10; % [%] Speed filter in percent [1, 100]. Lower values mean softer filter
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z_maxCntRst = 1500; % [-] Maximum counter value for reset (works also as time-out to detect standing still)
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r_commDCDeacv = 70; % [-] Commutation method deactivation Duty Cycle threshold (arbitrary small number)
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n_commDeacvHi = 30; % [rpm] Commutation method deactivation speed high
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n_commAcvLo = 15; % [rpm] Commutation method activation speed low
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dz_counterHi = 50; % [-] Counter gradient High. Above this value the control resets to Commudation method (to deal with the high dynamics)
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dz_counterLo = 20; % [-] Counter gradient Low. Below this value the control authorizes the Advance method (high dynamics have passed)
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%% F02_Electrical_Angle_Calculation
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b_phaAdvEna = 1; % [-] Phase advance enable parameter: 0 = disable, 1 = enable
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n_motPhaAdvEna = 400; % [rpm] Phase advance enable motor speed threshold
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% The map below was experimentaly calibrated on the real motor. Objectives: minimum noise and minimum torque ripple
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a_phaAdv_M1 = [0 0 0 0 0 2 3 5 9 16 25]; % [deg] Phase advance angle
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r_phaAdvDC_XA = [0 100 200 300 400 500 600 700 800 900 1000]; % [-] Phase advance Duty Cycle grid
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% plot(r_phaAdvDC_XA, a_phaAdv_M1);
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%% F03_Speed_Control
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sca_factor = 1000; % [-] scalling factor (to avoid truncation approximations on integer data type)
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% Commutation method
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z_commutMap_M1 = sca_factor*[ 1 1 0 -1 -1 0; % Phase A
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-1 0 1 1 0 -1 ; % Phase B
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0 -1 -1 0 1 1]; % Phase C [-] Commutation method map
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% Trapezoidal method
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a_trapElecAngle_XA = [0 60 120 180 240 300 360]; % [deg] Electrical angle grid
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r_trapPhaA_M1 = sca_factor*[ 1 1 1 -1 -1 -1 1];
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r_trapPhaB_M1 = sca_factor*[-1 -1 1 1 1 -1 -1];
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r_trapPhaC_M1 = sca_factor*[ 1 -1 -1 -1 1 1 1];
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% Sinusoidal method
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a_sinElecAngle_XA = 0:10:360;
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omega = a_sinElecAngle_XA*(pi/180);
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pha_adv = 30; % [deg] Phase advance to mach commands with the Hall position
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r_sinPhaA_M1 = sin(omega + pha_adv*(pi/180));
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r_sinPhaB_M1 = sin(omega - 120*(pi/180) + pha_adv*(pi/180));
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r_sinPhaC_M1 = sin(omega + 120*(pi/180) + pha_adv*(pi/180));
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% Sinusoidal 3rd armonic method
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A = 1.15; % Sine amplitude (tunable to get the Saddle sin maximum to value 1000)
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sin3Arm = 0.238*sin(3*(omega + pha_adv*(pi/180))); % 3rd armonic
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r_sin3PhaA_M1 = sin3Arm + A*r_sinPhaA_M1;
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r_sin3PhaB_M1 = sin3Arm + A*r_sinPhaB_M1;
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r_sin3PhaC_M1 = sin3Arm + A*r_sinPhaC_M1;
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% Rounding for representation on integer data type
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r_sinPhaA_M1 = round(sca_factor * r_sinPhaA_M1);
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r_sinPhaB_M1 = round(sca_factor * r_sinPhaB_M1);
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r_sinPhaC_M1 = round(sca_factor * r_sinPhaC_M1);
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r_sin3PhaA_M1 = round(sca_factor * r_sin3PhaA_M1);
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r_sin3PhaB_M1 = round(sca_factor * r_sin3PhaB_M1);
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r_sin3PhaC_M1 = round(sca_factor * r_sin3PhaC_M1);
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disp('---- BLDC_controller: Initialization OK ----');
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%% Plot control methods
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show_fig = 0;
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if show_fig
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hall_A = [1 1 1 0 0 0 0] + 4;
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hall_B = [0 0 1 1 1 0 0] + 2;
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hall_C = [1 0 0 0 1 1 1];
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color = ['m' 'g' 'b'];
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lw = 1.5;
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figure
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s1 = subplot(321); hold on
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stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
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stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
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stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
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xticks(a_trapElecAngle_XA);
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grid
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yticks(0:5);
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yticklabels({'0','1','0','1','0','1'});
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title('Hall sensors');
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legend('Phase A','Phase B','Phase C','Location','NorthWest');
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s2 = subplot(322); hold on
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stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
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stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
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stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
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xticks(a_trapElecAngle_XA);
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grid
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yticks(0:5);
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yticklabels({'0','1','0','1','0','1'});
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title('Hall sensors');
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legend('Phase A','Phase B','Phase C','Location','NorthWest');
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s3 = subplot(323); hold on
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stairs(a_trapElecAngle_XA, [z_commutMap_M1(1,:) z_commutMap_M1(1,end)] + 6000, color(1), 'Linewidth', lw);
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stairs(a_trapElecAngle_XA, [z_commutMap_M1(2,:) z_commutMap_M1(1,end)] + 3000, color(2), 'Linewidth', lw);
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stairs(a_trapElecAngle_XA, [z_commutMap_M1(3,:) z_commutMap_M1(1,end)], color(3), 'Linewidth', lw);
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xticks(a_trapElecAngle_XA);
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yticks(-1000:1000:7000);
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yticklabels({'-1000','0','1000','-1000','0','1000','-1000','0','1000'});
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ylim([-1000 7000]);
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grid
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title('Commutation method [0]');
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s5 = subplot(325); hold on
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plot(a_trapElecAngle_XA, r_trapPhaA_M1, color(1), 'Linewidth', lw);
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plot(a_trapElecAngle_XA, r_trapPhaB_M1, color(2), 'Linewidth', lw);
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plot(a_trapElecAngle_XA, r_trapPhaC_M1, color(3), 'Linewidth', lw);
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xticks(a_trapElecAngle_XA);
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grid
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title('Pure trapezoidal method [1]');
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xlabel('Electrical angle [deg]');
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s4 = subplot(324); hold on
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plot(a_sinElecAngle_XA, r_sinPhaA_M1, color(1), 'Linewidth', lw);
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plot(a_sinElecAngle_XA, r_sinPhaB_M1, color(2), 'Linewidth', lw);
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plot(a_sinElecAngle_XA, r_sinPhaC_M1, color(3), 'Linewidth', lw);
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xticks(a_trapElecAngle_XA);
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grid
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title('Sinusoidal method [2]');
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s6 = subplot(326); hold on
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plot(a_sinElecAngle_XA, r_sin3PhaA_M1, color(1), 'Linewidth', lw);
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plot(a_sinElecAngle_XA, r_sin3PhaB_M1, color(2), 'Linewidth', lw);
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plot(a_sinElecAngle_XA, r_sin3PhaC_M1, color(3), 'Linewidth', lw);
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xticks(a_trapElecAngle_XA);
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grid
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title('Sinusoidal 3rd armonic [3]');
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xlabel('Electrical angle [deg]');
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linkaxes([s1 s2 s3 s4 s5 s6],'x');
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xlim([0 360]);
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end
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