Merge branch 'dev'

Author: askuric

arduino_foc_minimal_encoder/BLDCMotor.cpp

@@ -0,0 +1,181 @@
+#ifndef BLDCMotor_h
+#define BLDCMotor_h
+
+#include "Arduino.h"
+#include "FOCutils.h"
+#include "Sensor.h"
+
+// default configuration values
+// power supply voltage
+#define DEF_POWER_SUPPLY 12.0
+// velocity PI controller params
+#define DEF_PI_VEL_P 0.5
+#define DEF_PI_VEL_I 10
+#define DEF_PI_VEL_U_RAMP 300
+// angle P params
+#define DEF_P_ANGLE_P 20
+// angle velocity limit default
+#define DEF_P_ANGLE_VEL_LIM 20
+// index search velocity
+#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1
+// velocity PI controller params for index search
+#define DEF_PI_VEL_INDEX_P 1
+#define DEF_PI_VEL_INDEX_I 10
+#define DEF_PI_VEL_INDEX_U_RAMP 100
+// velocity filter time constant
+#define DEF_VEL_FILTER_Tf 0.005
+
+// controller type configuration enum
+enum ControlType{
+  voltage,
+  velocity,
+  angle
+};
+
+// FOC Type
+enum FOCModulationType{
+  SinePWM,
+  SpaceVectorPWM
+};
+
+// PI controller structure
+struct PI_s{
+  float P;
+  float I;
+  long timestamp;
+  float voltage_prev, tracking_error_prev;
+  float voltage_limit;
+  float voltage_ramp;
+};
+
+// P controller structure
+struct P_s{
+  float P;
+  long timestamp;
+  float voltage_prev, tracking_error_prev;
+  float velocity_limit;
+};
+
+// flow pass filter structure
+struct LPF_s{
+  float Tf;
+  long timestamp;
+  float prev;
+};
+
+/**
+ BLDC motor class
+*/
+class BLDCMotor
+{
+  public:
+    /*
+      BLDCMotor( int phA, int phB, int phC, int pp , int cpr, int en)
+      - phA, phB, phC - motor A,B,C phase pwm pins
+      - pp            - pole pair number
+      - cpr           - counts per rotation number (cpm=ppm*4)
+      - enable pin    - (optional input)
+    */
+    BLDCMotor(int phA,int phB,int phC,int pp, int en = 0);
+    // change driver state
+  	void init();
+  	void disable();
+    void enable();
+    // connect sensor
+    void linkSensor(Sensor* _sensor);
+
+    //  initilise FOC  
+    int initFOC();
+    // iterative method updating motor angles and velocity measurement
+    void loopFOC();
+    // iterative control loop defined by controller 
+    void move(float target);
+    
+
+    // hardware variables
+  	int pwmA;
+  	int pwmB;
+  	int pwmC;
+    int enable_pin;
+    int pole_pairs;
+
+
+    /** State calculation methods */
+    //Shaft angle calculation
+    float shaftAngle();
+    //Shaft velocity calculation
+    float shaftVelocity();
+
+    // state variables
+    // current motor angle
+  	float shaft_angle;
+    // current motor velocity 
+  	float shaft_velocity;
+    // current target velocity
+    float shaft_velocity_sp;
+    // current target angle
+    float shaft_angle_sp;
+    // current voltage u_q set
+    float voltage_q;
+
+    // Power supply voltage
+    float voltage_power_supply;
+
+    // configuration structures
+    ControlType controller;
+    FOCModulationType foc_modulation;
+    PI_s PI_velocity;
+    PI_s PI_velocity_index_search;  	
+    P_s P_angle;	
+    LPF_s LPF_velocity;
+
+    // sensor link:
+    // - Encoder 
+    // - MagneticSensor
+    Sensor* sensor;
+    // absolute zero electric angle - if available
+    float zero_electric_angle;
+    // index search velocity
+    float index_search_velocity;
+
+    /** FOC methods */
+    //Method using FOC to set Uq to the motor at the optimal angle
+    void setPhaseVoltage(float Uq, float angle_el);
+
+    // debugging 
+    void useDebugging(Print &print);
+    void monitor();
+    Print* debugger;
+    
+    float Ua,Ub,Uc;
+
+  private:
+    //Sensor alignment to electrical 0 angle
+    int alignSensor();
+    //Motor and sensor alignment to the sensors absolute 0 angle
+    int absoluteZeroAlign();
+    
+    //Electrical angle calculation
+    float electricAngle(float shaftAngle);
+    //Set phase voltaget to pwm output
+    void setPwm(int pinPwm, float U);
+        
+    /** Utility functions */
+    //normalizing radian angle to [0,2PI]
+    float normalizeAngle(float angle);
+    // determining if the enable pin has been provided
+    int hasEnable();
+    
+    /** Motor control functions */
+    float controllerPI(float tracking_error, PI_s &controller);
+    float velocityPI(float tracking_error);
+    float velocityIndexSearchPI(float tracking_error);
+    float positionP(float ek);
+    
+    // phase voltages 
+    float	Ualpha,Ubeta;
+
+};
+
+
+#endif