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The following commit(s) were added to refs/heads/master by this push:
new 8d61a10a7 industry/foc/foc_ident: make the Ki resistance measurement
parameter configurable
8d61a10a7 is described below
commit 8d61a10a74574952d3fced8594423724313c80e7
Author: raiden00pl <[email protected]>
AuthorDate: Thu Aug 18 11:38:32 2022 +0200
industry/foc/foc_ident: make the Ki resistance measurement parameter
configurable
The hardcoded parameter may not be suitable for various types of motors
---
examples/foc/Kconfig | 4 ++++
examples/foc/foc_cfg.h | 3 +++
examples/foc/foc_motor_b16.c | 2 ++
examples/foc/foc_motor_f32.c | 1 +
include/industry/foc/fixed16/foc_ident.h | 1 +
include/industry/foc/float/foc_ident.h | 1 +
industry/foc/fixed16/foc_ident.c | 10 ++++++++--
industry/foc/float/foc_ident.c | 10 ++++++++--
8 files changed, 28 insertions(+), 4 deletions(-)
diff --git a/examples/foc/Kconfig b/examples/foc/Kconfig
index c3a1066c1..ade011557 100644
--- a/examples/foc/Kconfig
+++ b/examples/foc/Kconfig
@@ -386,6 +386,10 @@ config EXAMPLES_FOC_IDENT_RES_CURRENT
int "FOC motor ident resistance current (x1000)"
default 0
+config EXAMPLES_FOC_IDENT_RES_KI
+ int "FOC motor ident resistance Ki (x1000)"
+ default 50
+
config EXAMPLES_FOC_IDENT_IND_VOLTAGE
int "FOC motor ident inductance voltage (x1000)"
default 0
diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index 155b44379..4874aed58 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -88,6 +88,9 @@
# if (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT == 0)
# error
# endif
+# if (CONFIG_EXAMPLES_FOC_IDENT_RES_KI == 0)
+# error
+# endif
# if (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE == 0)
# error
# endif
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index a3996f6d1..8a4083a0f 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -989,6 +989,8 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
ident_cfg.per = motor->per;
ident_cfg.res_current = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT /
1000.0f);
+ ident_cfg.res_ki = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_KI /
+ 1000.0f);
ident_cfg.ind_volt = ftob16(CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE /
1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 6c9b54374..c123881cf 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -972,6 +972,7 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
ident_cfg.per = motor->per;
ident_cfg.res_current = (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT / 1000.0f);
+ ident_cfg.res_ki = (CONFIG_EXAMPLES_FOC_IDENT_RES_KI / 1000.0f);
ident_cfg.ind_volt = (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE / 1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);
diff --git a/include/industry/foc/fixed16/foc_ident.h
b/include/industry/foc/fixed16/foc_ident.h
index 276fa631e..d7360e19b 100644
--- a/include/industry/foc/fixed16/foc_ident.h
+++ b/include/industry/foc/fixed16/foc_ident.h
@@ -41,6 +41,7 @@ struct foc_routine_ident_cfg_b16_s
{
b16_t per; /* Routine period in sec */
b16_t res_current; /* Resistance measurement current */
+ b16_t res_ki; /* Resistance measurement Ki */
b16_t ind_volt; /* Inductance measurement current */
int res_steps; /* Resistance measurement steps */
int ind_steps; /* Inductance measurement steps */
diff --git a/include/industry/foc/float/foc_ident.h
b/include/industry/foc/float/foc_ident.h
index a2d392ba9..66da973a4 100644
--- a/include/industry/foc/float/foc_ident.h
+++ b/include/industry/foc/float/foc_ident.h
@@ -83,6 +83,7 @@ struct foc_routine_ident_cfg_f32_s
#endif
float per; /* Routine period in sec */
float res_current; /* Resistance measurement current */
+ float res_ki; /* Resistance measurement Ki */
float ind_volt; /* Inductance measurement voltage */
int res_steps; /* Resistance measurement steps */
int ind_steps; /* Inductance measurement steps */
diff --git a/industry/foc/fixed16/foc_ident.c b/industry/foc/fixed16/foc_ident.c
index 65dab3535..be9d4eaef 100644
--- a/industry/foc/fixed16/foc_ident.c
+++ b/industry/foc/fixed16/foc_ident.c
@@ -39,7 +39,6 @@
****************************************************************************/
#define IDENT_PI_KP (ftob16(0.0f))
-#define IDENT_PI_KI (ftob16(0.05f))
/****************************************************************************
* Private Data Types
@@ -169,7 +168,8 @@ int foc_ident_res_run_b16(FAR struct foc_ident_b16_s *ident,
if (ident->cntr == 0)
{
- pi_controller_init_b16(&ident->pi, IDENT_PI_KP, IDENT_PI_KI);
+ DEBUGASSERT(ident->cfg.res_ki > 0);
+ pi_controller_init_b16(&ident->pi, IDENT_PI_KP, ident->cfg.res_ki);
}
/* PI saturation */
@@ -427,6 +427,12 @@ int foc_routine_ident_cfg_b16(FAR foc_routine_b16_t *r,
FAR void *cfg)
goto errout;
}
+ if (i->cfg.res_ki <= 0)
+ {
+ ret = -EINVAL;
+ goto errout;
+ }
+
if (i->cfg.res_current <= 0 || i->cfg.ind_volt <= 0)
{
ret = -EINVAL;
diff --git a/industry/foc/float/foc_ident.c b/industry/foc/float/foc_ident.c
index 8ffba33d0..4a04c74d3 100644
--- a/industry/foc/float/foc_ident.c
+++ b/industry/foc/float/foc_ident.c
@@ -39,7 +39,6 @@
****************************************************************************/
#define IDENT_PI_KP (0.0f)
-#define IDENT_PI_KI (0.05f)
/****************************************************************************
* Private Data Types
@@ -194,7 +193,8 @@ int foc_ident_res_run_f32(FAR struct foc_ident_f32_s *ident,
if (ident->cntr == 0)
{
- pi_controller_init(&ident->pi, IDENT_PI_KP, IDENT_PI_KI);
+ DEBUGASSERT(ident->cfg.res_ki > 0.0f);
+ pi_controller_init(&ident->pi, IDENT_PI_KP, ident->cfg.res_ki);
}
/* PI saturation */
@@ -576,6 +576,12 @@ int foc_routine_ident_cfg_f32(FAR foc_routine_f32_t *r,
FAR void *cfg)
goto errout;
}
+ if (i->cfg.res_ki <= 0.0f)
+ {
+ ret = -EINVAL;
+ goto errout;
+ }
+
if (i->cfg.res_current <= 0.0f || i->cfg.ind_volt <= 0.0f
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
|| i->cfg.flux_curr <= 0.0f
