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Added Sinusoidal Control Type

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Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted.
Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
This commit is contained in:
EmanuelFeru
2019-11-30 11:30:12 +01:00
parent 420b95e281
commit 6c8b7f001d
15 changed files with 1502 additions and 1242 deletions
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01_Matlab/01_Libraries/01_Controller/BLDC_controller_Lib.slx
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01_Matlab/02_Figures/control_methods.png
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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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@@ -10,7 +10,7 @@
% >> improved motor efficiency -> lower energy consumption
%
% Author: Emanuel FERU
% Copyright <EFBFBD> 2019 Emanuel FERU <aerdronix@gmail.com>
% Copyright <EFBFBD> 2019-2020 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
@@ -59,7 +59,8 @@ r_cos_M1 = cos((a_elecAngle_XA + 30)*(pi/180));
%% Control Manager
% Control type selection
CTRL_COM = 0; % [-] Commutation Control
CTRL_FOC = 1; % [-] Field Oriented Control (FOC)
CTRL_SIN = 1; % [-] Sinusoidal Control
CTRL_FOC = 2; % [-] Field Oriented Control (FOC)
z_ctrlTypSel = CTRL_FOC; % [-] Control Type Selection (default)
% Control model request
@@ -89,7 +90,7 @@ cf_currFilt = 0.12; % [%] Current filter coefficient [0, 1]. Lower v
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 = 200; % [-] Error input target threshold (for "Blocked motor" detection)
r_errInpTgtThres = 400; % [-] Error input target threshold (for "Blocked motor" detection)
%% F04_Field_Oriented_Control
@@ -146,10 +147,30 @@ iq_maxSca_M1 = sqrt(1 - iq_maxSca_XA.^2);
%-------------------------------
%% F05_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);
omega = a_elecAngle_XA*(pi/180);
pha_adv = 30; % [deg] Phase advance to mach commands with the Hall position
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
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;
r_sin3PhaB_M1 = sin3Arm + A*r_sinPhaB_M1;
r_sin3PhaC_M1 = sin3Arm + A*r_sinPhaC_M1;
disp('---- BLDC_controller: Initialization OK ----');
@@ -158,64 +179,70 @@ show_fig = 0;
if show_fig
% Apply scaling
sca_factor = 1000; % [-] scalling factor (to avoid truncation approximations on integer data type)
r_sinPhaA_M1sca = sca_factor * r_sinPhaA_M1;
r_sinPhaB_M1sca = sca_factor * r_sinPhaB_M1;
r_sinPhaC_M1sca = sca_factor * r_sinPhaC_M1;
r_sin3PhaA_M1sca = sca_factor * r_sin3PhaA_M1;
r_sin3PhaB_M1sca = sca_factor * r_sin3PhaB_M1;
r_sin3PhaC_M1sca = sca_factor * r_sin3PhaC_M1;
% Trapezoidal method
a_trapElecAngle_XA = [0 60 120 180 240 300 360]; % [deg] Electrical angle grid
r_trapPhaA_M1 = sca_factor*[ 1 1 1 -1 -1 -1 1];
r_trapPhaB_M1 = sca_factor*[-1 -1 1 1 1 -1 -1];
r_trapPhaC_M1 = sca_factor*[ 1 -1 -1 -1 1 1 1];
% Sinusoidal method
a_sinElecAngle_XA = 0:10:360;
omega = a_sinElecAngle_XA*(pi/180);
pha_adv = 30; % [deg] Phase advance to mach commands with the Hall position
r_sinPhaA_M1 = -sca_factor*sin(omega + pha_adv*(pi/180));
r_sinPhaB_M1 = -sca_factor*sin(omega - 120*(pi/180) + pha_adv*(pi/180));
r_sinPhaC_M1 = -sca_factor*sin(omega + 120*(pi/180) + pha_adv*(pi/180));
% Commutation method
a_commElecAngle_XA = [0 60 120 180 240 300 360]; % [deg] Electrical angle grid
hall_A = [0 0 0 1 1 1 1] + 4;
hall_B = [1 1 0 0 0 1 1] + 2;
hall_C = [0 1 1 1 0 0 0];
% SVM (Space Vector Modulation) calculation
SVM_vec = [r_sinPhaA_M1; r_sinPhaB_M1; r_sinPhaC_M1];
SVM_vec = [r_sinPhaA_M1sca; r_sinPhaB_M1sca; r_sinPhaC_M1sca];
SVM_min = min(SVM_vec);
SVM_max = max(SVM_vec);
SVM_sum = SVM_min + SVM_max;
SVM_vec = SVM_vec - 0.5*SVM_sum;
SVM_vec = (2/sqrt(3))*SVM_vec;
hall_A = [0 0 0 1 1 1 1] + 4;
hall_B = [1 1 0 0 0 1 1] + 2;
hall_C = [0 1 1 1 0 0 0];
color = ['m' 'g' 'b'];
lw = 1.5;
figure
s1 = subplot(221); hold on
stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
s1 = subplot(231); hold on
stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
xticks(a_commElecAngle_XA);
grid
yticks(0:5);
yticklabels({'0','1','0','1','0','1'});
title('Hall sensors');
legend('Phase A','Phase B','Phase C','Location','NorthEast');
s2 = subplot(222); hold on
stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
s2 = subplot(232); hold on
stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
xticks(a_commElecAngle_XA);
grid
yticks(0:5);
yticklabels({'0','1','0','1','0','1'});
title('Hall sensors');
legend('Phase A','Phase B','Phase C','Location','NorthEast');
s3 = subplot(223); hold on
stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(1,:) z_commutMap_M1(1,1)] + 6000, color(1), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(2,:) z_commutMap_M1(2,1)] + 3000, color(2), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(3,:) z_commutMap_M1(3,1)], color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
s3 = subplot(233); hold on
stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
xticks(a_commElecAngle_XA);
grid
yticks(0:5);
yticklabels({'0','1','0','1','0','1'});
title('Hall sensors');
legend('Phase A','Phase B','Phase C','Location','NorthEast');
s4 = subplot(234); hold on
stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(1,:) z_commutMap_M1(1,1)] + 6000, color(1), 'Linewidth', lw);
stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(2,:) z_commutMap_M1(2,1)] + 3000, color(2), 'Linewidth', lw);
stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(3,:) z_commutMap_M1(3,1)], color(3), 'Linewidth', lw);
xticks(a_commElecAngle_XA);
yticks(-1000:1000:7000);
yticklabels({'-1000','0','1000','-1000','0','1000','-1000','0','1000'});
ylim([-1000 7000]);
@@ -223,16 +250,27 @@ if show_fig
title('Commutation method [0]');
xlabel('Electrical angle [deg]');
s4 = subplot(224); hold on
plot(a_sinElecAngle_XA, SVM_vec(1,:), color(1), 'Linewidth', lw);
plot(a_sinElecAngle_XA, SVM_vec(2,:), color(2), 'Linewidth', lw);
plot(a_sinElecAngle_XA, SVM_vec(3,:), color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
s5 = subplot(235); hold on
plot(a_elecAngle_XA, r_sin3PhaA_M1sca, color(1), 'Linewidth', lw);
plot(a_elecAngle_XA, r_sin3PhaB_M1sca, color(2), 'Linewidth', lw);
plot(a_elecAngle_XA, r_sin3PhaC_M1sca, color(3), 'Linewidth', lw);
xticks(a_commElecAngle_XA);
ylim([-1000 1000])
grid
title('FOC method [1]');
title('SIN method [1]');
xlabel('Electrical angle [deg]');
linkaxes([s1 s2 s3 s4],'x');
s6 = subplot(236); hold on
plot(a_elecAngle_XA, SVM_vec(1,:), color(1), 'Linewidth', lw);
plot(a_elecAngle_XA, SVM_vec(2,:), color(2), 'Linewidth', lw);
plot(a_elecAngle_XA, SVM_vec(3,:), color(3), 'Linewidth', lw);
xticks(a_commElecAngle_XA);
ylim([-1000 1000])
grid
title('FOC method [2]');
xlabel('Electrical angle [deg]');
linkaxes([s1 s2 s3 s4 s5 s6],'x');
xlim([0 360]);
end