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Major improvements

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- reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new)
- updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range
- major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
This commit is contained in:
EmanuelFeru
2019-12-12 23:44:33 +01:00
parent 8ae3770708
commit 31d42b4a17
18 changed files with 1884 additions and 1987 deletions
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01_Matlab/01_Libraries/01_Controller/BLDC_controller_Lib.slx
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01_Matlab/03_CreateParamTable/tableParamType.xlsx
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01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx
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01_Matlab/init_model.m
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@@ -56,7 +56,7 @@ r_cos_M1 = cos((a_elecAngle_XA + 30)*(pi/180));
% stairs(a_elecAngle_XA, r_cos_M1);
% legend('sin','cos');
%% Control Manager
%% Control selection
% Control type selection
CTRL_COM = 0; % [-] Commutation Control
CTRL_SIN = 1; % [-] Sinusoidal Control
@@ -70,6 +70,7 @@ SPD_MODE = 2; % [-] Speed mode
TRQ_MODE = 3; % [-] Torque mode
z_ctrlModReq = VLT_MODE; % [-] Control Mode Request (default)
%% F01_Estimations
% Position Estimation Parameters
% Hall = 4*hA + 2*hB + hC
@@ -87,41 +88,36 @@ n_stdStillDet = 3; % [rpm] Speed threshold for Stand still detectio
cf_currFilt = 0.12; % [%] Current filter coefficient [0, 1]. Lower values mean softer filter
%% F02_Diagnostics
b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
t_errQual = 0.6 * f_ctrl; % [s] Error qualification time
t_errDequal = 2.0 * f_ctrl; % [s] Error dequalification time
r_errInpTgtThres = 400; % [-] Error input target threshold (for "Blocked motor" detection)
b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
t_errQual = 0.6 * f_ctrl/3; % [s] Error qualification time
t_errDequal = 2.0 * f_ctrl/3; % [s] Error dequalification time
r_errInpTgtThres = 400; % [-] Error input target threshold (for "Blocked motor" detection)
%% F04_Field_Oriented_Control
%% F03_Control_Mode_Manager
dV_openRate = 1000 / (f_ctrl/3);% [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate)
% Current measurement
b_selPhaABCurrMeas = 1; % [-] Measured phase currents selection: {iA,iB} = 1 (default); {iB,iC} = 0
dV_openRate = 1000 / f_ctrl; % [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate)
% Field Weakening
%% F04_Field_Weakening
b_fieldWeakEna = 0; % [-] Field weakening enable flag: 0 = disable (default), 1 = enable
n_fieldWeakAuthHi = 200; % [rpm] Motor speed High for field weakening authorization
n_fieldWeakAuthLo = 140; % [rpm] Motor speed Low for field weakening authorization
id_fieldWeak_M1 = [0 0.1 0.3 0.7 1.3 2.1 3 3.8 4.4 4.8 5 5] * i_sca; % [-] Field weakening current map
r_fieldWeak_XA = [570 600 630 660 690 720 750 780 810 840 870 900]; % [-] Scaled input target grid
% figure
% plot(r_fieldWeak_XA, id_fieldWeak_M1, '.-'); hold on
% grid
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
n_fieldWeakAuthHi = 400; % [rpm] Motor speed High for field weakening authorization
n_fieldWeakAuthLo = 300; % [rpm] Motor speed Low for field weakening authorization
% Q axis control gains
cf_iqKp = 0.5; % [-] P gain
cf_iqKi = 100 / f_ctrl; % [-] I gain
% FOC method
id_fieldWeakMax = 5 * i_sca; % [A] Field weakening maximum current
% D axis control gains
cf_idKp = 0.2; % [-] P gain
cf_idKi = 60 / f_ctrl; % [-] I gain
% SIN method
a_phaAdvMax = 25; % [deg] Maximum phase advance angle
% Speed control gains
cf_nKp = 1.18; % [-] P gain
cf_nKi = 20.4 / f_ctrl; % [-] I gain
% Limitations
%-------------------------------
%% F05_Field_Oriented_Control
b_selPhaABCurrMeas = 1; % [-] Select measured current phases: {iA,iB} = 1 (default); {iB,iC} = 0
% Motor Limitations Calibratables
cf_iqKiLimProt = 60 / (f_ctrl/3); % [-] Current limit protection integral gain (only used in VLT_MODE and SPD_MODE)
cf_nKiLimProt = 20 / (f_ctrl/3); % [-] Speed limit protection integral gain (only used in VLT_MODE and TRQ_MODE)
cf_KbLimProt = 1000 / (f_ctrl/3);% [-] Back calculation gain for integral anti-windup
% Voltage Limitations
V_margin = 100; % [-] Voltage margin to make sure that there is a sufficiently wide pulse for a good phase current measurement
Vd_max = 1000 - V_margin;
@@ -131,12 +127,9 @@ 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
cf_nKpLimProt = 5; % [-] Speed limit protection gain (only used in VLT_MODE and TRQ_MODE)
n_max = 800; % [rpm] Maximum motor speed
n_max = 1000; % [rpm] Maximum motor speed
% Current Limitations
cf_iqKpLimProt = 7.2; % [-] Current limit protection gain (only used in VLT_MODE and SPD_MODE)
cf_iqKiLimProt = 40.7 / f_ctrl; % [-] Current limit protection integral gain (only used in SPD_MODE)
i_max = 15; % [A] Maximum allowed motor current (continuous)
i_max = i_max * i_sca;
iq_maxSca_XA = 0:0.02:0.99;
@@ -146,18 +139,25 @@ iq_maxSca_M1 = sqrt(1 - iq_maxSca_XA.^2);
% stairs(iq_maxSca_XA, iq_maxSca_M1); legend('i_{maxSca}');
%-------------------------------
%% F05_Control_Type_Management
% Q axis control gains
cf_iqKp = 0.3; % [-] P gain
cf_iqKi = 100 / (f_ctrl/3); % [-] I gain
% D axis control gains
cf_idKp = 0.2; % [-] P gain
cf_idKi = 60 / (f_ctrl/3); % [-] I gain
% Speed control gains
cf_nKp = 1.18; % [-] P gain
cf_nKi = 20.4 / (f_ctrl/3);% [-] I gain
%-------------------------------
%% F06_Control_Type_Management
% Commutation method
z_commutMap_M1 = [-1 -1 0 1 1 0; % Phase A
1 0 -1 -1 0 1; % Phase B
0 1 1 0 -1 -1]; % Phase C [-] Commutation method map
% Sinusoidal method
% The map below was experimentaly calibrated on the real motor. Objectives: minimum noise and minimum torque ripple
a_phaAdv_M1 = [0 0 0 0 0 2 3 5 9 16 25]; % [deg] Phase advance angle
r_phaAdv_XA = [0 100 200 300 400 500 600 700 800 900 1000]; % [-] Scaled input target grid
% plot(r_phaAdv_XA, a_phaAdv_M1);
0 1 1 0 -1 -1]; % Phase C [-] Commutation method map
omega = a_elecAngle_XA*(pi/180);
pha_adv = 30; % [deg] Phase advance to mach commands with the Hall position
@@ -165,7 +165,7 @@ r_sinPhaA_M1 = -sin(omega + pha_adv*(pi/180));
r_sinPhaB_M1 = -sin(omega - 120*(pi/180) + pha_adv*(pi/180));
r_sinPhaC_M1 = -sin(omega + 120*(pi/180) + pha_adv*(pi/180));
% Sinusoidal 3rd armonic method
% Sinusoidal 3rd harmonic method
A = 1.15; % Sine amplitude (tunable to get the Saddle sin maximum to value 1000)
sin3Arm = -0.224*sin(3*(omega + pha_adv*(pi/180))); % 3rd armonic
r_sin3PhaA_M1 = sin3Arm + A*r_sinPhaA_M1;