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Updates on BLDC controller

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- added possbility to switch the Control mode while motor is spinning
- added support for Cruise control: activated by b_cruiseCtrlEna, where the target to set is n_cruiseMotTgt. (Needs small aditional handling on the application firmware to set the n_cruiseMotTgt properly to the current operation speed, immediately after activation via b_cruiseCtrlEna).
- extended Phase current measurements z_selPhaCurMeasABC : {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2
- added interface for external motor angle measurement from as sensor, e.g., encoder. The selection can be done via b_angleMeasEna.
This commit is contained in:
EmanuelFeru
2020-10-11 20:58:03 +02:00
parent bb38ef1790
commit 3c8a035b2e
360 changed files with 151736 additions and 130057 deletions
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51
init_model.m
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@@ -10,7 +10,7 @@
% >> improved motor efficiency -> lower energy consumption
%
% Author: Emanuel FERU
% Copyright <EFBFBD> 2019-2020 Emanuel FERU <aerdronix@gmail.com>
% Copyright <EFBFBD> 2019-2021 Emanuel FERU <aerdronix@gmail.com>
%
% This program is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
@@ -39,7 +39,7 @@ f_ctrl = 16e3; % [Hz] Controller frequency
% Ts_ctrl = 12e-5; % [s] Controller sampling time (~8 kHz)
% Motor parameters
n_polePairs = 15; % [-] Number of pole pairs
n_polePairs = 15; % [-] Number of motor pole pairs
a_elecPeriod = 360; % [deg] Electrical angle period
a_elecAngle = 60; % [deg] Electrical angle between two Hall sensor changing events
a_mechAngle = a_elecAngle / n_polePairs; % [deg] Mechanical angle between two Hall sensor changing events
@@ -58,17 +58,21 @@ r_cos_M1 = cos((a_elecAngle_XA + 30)*(pi/180));
%% Control selection
% Control type selection
CTRL_COM = 0; % [-] Commutation Control
CTRL_SIN = 1; % [-] Sinusoidal Control
CTRL_FOC = 2; % [-] Field Oriented Control (FOC)
z_ctrlTypSel = CTRL_FOC; % [-] Control Type Selection (default)
CTRL_COM = 0; % [-] Commutation Control
CTRL_SIN = 1; % [-] Sinusoidal Control
CTRL_FOC = 2; % [-] Field Oriented Control (FOC)
z_ctrlTypSel = CTRL_FOC; % [-] Control Type Selection (default)
% Control model request
OPEN_MODE = 0; % [-] Open mode
VLT_MODE = 1; % [-] Voltage mode
SPD_MODE = 2; % [-] Speed mode
TRQ_MODE = 3; % [-] Torque mode
z_ctrlModReq = VLT_MODE; % [-] Control Mode Request (default)
OPEN_MODE = 0; % [-] Open mode
VLT_MODE = 1; % [-] Voltage mode
SPD_MODE = 2; % [-] Speed mode
TRQ_MODE = 3; % [-] Torque mode
z_ctrlModReq = VLT_MODE; % [-] Control Mode Request (default)
% Cruise control
b_cruiseCtrlEna = 0; % [-] Cruise control enable flag: 0 = disable (default), 1 = enable
n_cruiseMotTgt = 0; % [-] Cruise control motor speed target
%% F01_Estimations
@@ -79,13 +83,16 @@ vec_hallToPos = [0 2 0 1 4 3 5 0]; % [-] Mapping Hall signal to position
% Speed Calculation Parameters
cf_speedCoef = round(f_ctrl * a_mechAngle * (pi/180) * (30/pi)); % [-] Speed calculation coefficient (factors are due to conversions rpm <-> rad/s)
z_maxCntRst = 2000; % [-] Maximum counter value for reset (works also as time-out to detect standing still)
n_commDeacvHi = 30; % [rpm] Commutation method deactivation speed high
n_commAcvLo = 15; % [rpm] Commutation method activation speed low
dz_cntTrnsDetHi = 40; % [-] Counter gradient High for transient behavior detection (used for speed estimation)
dz_cntTrnsDetLo = 20; % [-] Counter gradient Low for steady state detection (used for speed estimation)
n_stdStillDet = 3; % [rpm] Speed threshold for Stand still detection
cf_currFilt = 0.12; % [%] Current filter coefficient [0, 1]. Lower values mean softer filter
z_maxCntRst = 2000; % [-] Maximum counter value for reset (works also as time-out to detect standing still)
n_commDeacvHi = 30; % [rpm] Commutation method deactivation speed high
n_commAcvLo = 15; % [rpm] Commutation method activation speed low
dz_cntTrnsDetHi = 40; % [-] Counter gradient High for transient behavior detection (used for speed estimation)
dz_cntTrnsDetLo = 20; % [-] Counter gradient Low for steady state detection (used for speed estimation)
n_stdStillDet = 3; % [rpm] Speed threshold for Stand still detection
cf_currFilt = 0.12; % [%] Current filter coefficient [0, 1]. Lower values mean softer filter
% Motor Angle Measurement (e.g. using an encoder)
b_angleMeasEna = 0; % [-] Enable flag for external mechanical motor angle sensor: 0 = estimated (default), 1 = measured
%% F02_Diagnostics
b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
@@ -98,8 +105,8 @@ dV_openRate = 1000 / (f_ctrl/3);% [V/s] Rate for voltage cut-off in Open
%% F04_Field_Weakening
b_fieldWeakEna = 0; % [-] Field weakening enable flag: 0 = disable (default), 1 = enable
r_fieldWeakHi = 1500; % [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance
r_fieldWeakLo = 1000; % [-] Input target Low threshold for starting Field Weakening / Phase Advance
r_fieldWeakHi = 1000; % [1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance
r_fieldWeakLo = 750; % [ 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance
n_fieldWeakAuthHi = 400; % [rpm] Motor speed High for field weakening authorization
n_fieldWeakAuthLo = 300; % [rpm] Motor speed Low for field weakening authorization
@@ -111,7 +118,7 @@ a_phaAdvMax = 25; % [deg] Maximum phase advance angle
%% F05_Field_Oriented_Control
b_selPhaABCurrMeas = 1; % [-] Select measured current phases: {iA,iB} = 1 (default); {iB,iC} = 0
z_selPhaCurMeasABC = 0; % [-] Select measured current phases: {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2
% Motor Limitations Calibratables
cf_iqKiLimProt = 60 / (f_ctrl/3); % [-] Current limit protection integral gain (only used in VLT_MODE and SPD_MODE)
@@ -127,7 +134,7 @@ Vq_max_M1 = sqrt(Vd_max^2 - Vq_max_XA.^2); % Circle limitations look-
% stairs(Vq_max_XA, Vq_max_M1); legend('V_{max}');
% Speed limitations
n_max = 1000; % [rpm] Maximum motor speed
n_max = 1500; % [rpm] Maximum motor speed: [-1500, 1500]
% Current Limitations
i_max = 15; % [A] Maximum allowed motor current (continuous)