void DTC_SVM(void)
{
static bool shutdown=true;
static bool increase_flux = false;
if (center_aligned_state==FIRST_HALF)
{
i_sD = direct_stator_current_i_sD (i_sA);
i_sQ = quadrature_stator_current_i_sQ (i_sA,i_sB);
static float psi_sD_i_neglected=0.0f;
static float psi_sQ_i_neglected=0.0f;
flux_linkage_estimator(2.0f*TICK_PERIOD,V_sD,V_sQ,i_sD,i_sQ,R_s,CUR_FREQ,&psi_sD,&psi_sQ,&psi_s,&psi_s_alpha_SVM);
flux_linkage_estimator_neglected_currents (2.0f*TICK_PERIOD,V_sD,V_sQ,&psi_sD_i_neglected,&psi_sQ_i_neglected);
//actual value
//it has to be multiplied by two in order because the switching frequency
//is half the pwm frequency due to the two-cycle center-aligned signal
//w_r = 0.15915494309189533576f*rotor_speed_w_r (psi_sD,psi_sQ,TICK_PERIOD*2.0f);
//using neglected-currents flux-linkage estimator
w_r = 0.15915494309189533576f*rotor_speed_w_r (psi_sD_i_neglected,psi_sQ_i_neglected,TICK_PERIOD*2.0f);
w_r = wr_moving_average_filter(w_r);
hall_freq=frequency_direction_two_hall_sensors_AB(CUR_FREQ);
if (w_r!=w_r) w_r=0.0f;
//t_e = electromagnetic_torque_estimation_t_e (psi_sD,i_sQ,psi_sQ,i_sD,pole_pairs);
t_e = electromagnetic_torque_estimation_t_e (psi_sD_i_neglected,i_sQ,psi_sQ_i_neglected,i_sD,pole_pairs);
//t_e = te_moving_average_filter(t_e);
psi_s_ref=psi_F;
//--------------------------------SVM algorithm--------------------------------------------//
}
else
{
/*
ref_freq_SVM = admittance_controller (
stiffness,
damping,
reference_electric_angle,
electric_angle,
strain_gauge
);
*/
/**************************************************************/
/*********Admitance Controller*********************************/
/**************************************************************/
/*ref_freq_SVM = admittance_controller (
stiffness,
damping,
reference_electric_angle,
electric_angle,
strain_gauge
);
*/
electric_angle= electric_angle+
/*DTC-SVM PID controller*/
/*SVM with PID controller on the frequency calculated with the hall sensor*/
//SVM_speed_close_loop_of_voltage_frequency(ref_freq_SVM,hall_freq,true,&V_sD,&V_sQ,U_d,shutdown);
/*SVM with lineal increase of electric frequency [based on frecuency calculated with the flux-linkage estimator]*/
SVM_speed_close_loop_of_voltage_frequency_old(ref_freq_SVM,w_r ,true,&V_sD,&V_sQ,U_d,shutdown);
#define MAX_GEAR_CYCLES 100.0f
if (reference_electric_angle>=360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
reference_electric_angle=reference_electric_angle-360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
if (electric_angle<- 360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
reference_electric_angle=reference_electric_angle+360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
if (electric_angle>=360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
electric_angle=electric_angle-360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
if (electric_angle<-360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
electric_angle=electric_angle+360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
fast_vector_angle_and_magnitude(V_sQ,V_sD,&V_s,&cita_V_s);
required_V_sD = V_sD;
required_V_sQ = V_sQ;
required_V_s = V_s;
required_cita_V_s = cita_V_s;
SVM_Maximum_allowed_V_s_ref (&V_sD,&V_sQ,&V_s,U_d*UD_PERCENTAGE,&increase_flux);//0.70f);
V_s_ref_relative_angle = SVM_V_s_relative_angle (cita_V_s);
float V_s_duty_cycle=0.0f;
float U_max=0.0f;
V_s_duty_cycle=V_s/(0.66666666666666666666f*U_d); //V_s_duty_cycle=V_s/( (2.0f/3.0f) *U_d);
U_max=U_d*0.66666666666666666666f;
T1 = SVM_T1 (V_s_duty_cycle,V_s,U_max, V_s_ref_relative_angle);
T2 = SVM_T2 (V_s_duty_cycle,V_s,U_max, V_s_ref_relative_angle);
T_min_on =SVM_T_min_on (1.0f, T1, T2); //T_min_on = SVM_T_min_on (1.0f, T1, T2);
T_med_on =SVM_T_med_on (T_min_on, T1,T2,cita_V_s);
T_max_on =SVM_T_max_on (T_med_on,T1,T2,cita_V_s);
SVM_phase_duty_cycles (&duty_a, &duty_b, &duty_c, cita_V_s,T_max_on,T_med_on,T_min_on);
//duty_a=0.5f;
//duty_b=0.0f;
//duty_c=0.0f;
shutdown_counter(ref_freq_SVM,&shutdown);
SVM_voltage_switch_inverter_VSI ( duty_a, duty_b, duty_c,shutdown);
}
if (center_aligned_state==FIRST_HALF)
{
center_aligned_state=SECOND_HALF;
}
else
{
center_aligned_state=FIRST_HALF;
}
}
void DTC_SVM(void)
{
static bool shutdown=true;
static bool open_loop_SVM = false;
//static bool close_loop_SVM = false;
static bool increase_flux = false;
if (center_aligned_state==FIRST_HALF)
{
i_sD = direct_stator_current_i_sD (i_sA);
i_sQ = quadrature_stator_current_i_sQ (i_sA,i_sB);
//fast_vector_angle_and_magnitude(i_sQ,i_sD,&i_s,&cita_i_s);
/*
//nan erradication
if (psi_sD!=psi_sD) psi_sD=0.0f;
if (psi_sQ!=psi_sQ) psi_sQ=0.0f;
if (psi_s !=psi_s ) psi_s =0.0f;
if (t_e!=t_e ) t_e =0.0f;
if (psi_s_alpha_SVM!=psi_s_alpha_SVM) psi_s_alpha_SVM=0.0f;
*/
static float psi_sD_i_neglected=0.0f;
static float psi_sQ_i_neglected=0.0f;
//flux_linkage_estimator(2.0f*TICK_PERIOD,V_sD,V_sQ,i_sD,i_sQ,R_s,CUR_FREQ,&psi_sD,&psi_sQ,&psi_s,&psi_s_alpha_SVM);
//flux_linkage_estimator_neglected_currents (2.0f*TICK_PERIOD,V_sD,V_sQ,&psi_sD_i_neglected,&psi_sQ_i_neglected);
//psi_sD_i_neglected=direct_stator_flux_linkage_estimator_psi_sD (2.0f*TICK_PERIOD,V_sD,i_sD,R_s,w_r);
//psi_sQ_i_neglected=quadrature_stator_flux_linkage_estimator_psi_sQ (2.0f*TICK_PERIOD,V_sQ,i_sQ,R_s,w_r);
//psi_sD_i_neglected=direct_stator_flux_linkage_estimator_psi_sD (2.0f*TICK_PERIOD,V_sD,0.0f,R_s,w_r);
//psi_sQ_i_neglected=quadrature_stator_flux_linkage_estimator_psi_sQ (2.0f*TICK_PERIOD,V_sQ,0.0f,R_s,w_r);
/*
//nan erradication
if (psi_sD!=psi_sD) psi_sD=0.0f;
if (psi_sQ!=psi_sQ) psi_sQ=0.0f;
if (psi_s !=psi_s ) psi_s =0.0f;
if (t_e!=t_e ) t_e =0.0f;
if (psi_s_alpha_SVM!=psi_s_alpha_SVM) psi_s_alpha_SVM=0.0f;
*/
//w_r = (1.0f/(2.0f*PI)) *rotor_speed_w_r (psi_sD,psi_sQ,TICK_PERIOD*2.0f);
//w_r = 0.15915494309189533576f*rotor_speed_w_r (psi_sD,psi_sQ,TICK_PERIOD*2.0f);
//it has to be multiplied by two in order because the switching frequency
//is half the pwm frequency due to the two-cycle center-aligned signal
//actual value
// w_r = 0.15915494309189533576f*rotor_speed_w_r (psi_sD,psi_sQ,TICK_PERIOD*2.0f);
//using neglected-currents flux-linkage estimator
//w_r = 0.15915494309189533576f*rotor_speed_w_r (psi_sD_i_neglected,psi_sQ_i_neglected,TICK_PERIOD*2.0f);
//w_r = wr_moving_average_filter(w_r);
hall_freq=frequency_direction_two_hall_sensors_AB(CUR_FREQ);
if (w_r!=w_r) w_r=0.0f;
//t_e = electromagnetic_torque_estimation_t_e (psi_sD,i_sQ,psi_sQ,i_sD,pole_pairs);
t_e = electromagnetic_torque_estimation_t_e (psi_sD_i_neglected,i_sQ,psi_sQ_i_neglected,i_sD,pole_pairs);
//t_e = te_moving_average_filter(t_e);
//t_e_ref = DTC_torque_reference_PI (CUR_FREQ, ref_freq);
//psi_s_ref = stator_flux_linkage_reference_psi_s_ref (psi_F,t_e_ref,L_sq,pole_pairs);
if (user_input==true)
psi_s_ref=psi_ref_user;
else
psi_s_ref=psi_F;
//--------------------------------SVM algorithm--------------------------------------------//
//SVM_starting_open_loop(open_loop_SVM,&V_sD,&V_sQ,U_d,MAXIMUM_OPEN_LOOP_SPEED,CUR_FREQ,ref_freq_SVM);
//SVM_starting_open_loop(open_loop_SVM,&V_sD,&V_sQ,U_d,ref_freq_SVM,CUR_FREQ,ref_freq_SVM);
SVM_starting_open_loop(open_loop_SVM,&V_sD,&V_sQ,U_d,ref_freq_SVM,hall_freq,ref_freq_SVM);
}
else
{
//SVM_speed_close_loop(ref_freq_SVM,CUR_FREQ,close_loop_SVM,&V_sD,&V_sQ);
//SVM_speed_close_loop(ref_freq_SVM,w_r,close_loop_SVM,&V_sD,&V_sQ);
//SVM_speed_close_loop_of_voltage_frequency(ref_freq_SVM,CUR_FREQ,close_loop_SVM,&V_sD,&V_sQ,U_d,shutdown);
/*
ref_freq_SVM = admittance_controller (
stiffness,
damping,
reference_electric_angle,
electric_angle,
strain_gauge
);
*/
/**************************************************************/
/*********Admitance Controller*********************************/
/**************************************************************/
/*ref_freq_SVM = admittance_controller (
stiffness,
damping,
reference_electric_angle,
electric_angle,
strain_gauge
);
*/
//float intermidiate_value;
//intermidiate_value = wr_moving_average_filter(CUR_FREQ);
electric_angle= electric_angle+
//SVM_speed_close_loop_of_voltage_frequency(ref_freq_SVM,CUR_FREQ,true,&V_sD,&V_sQ,U_d,shutdown);
//SVM_speed_close_loop_of_voltage_frequency(ref_freq_SVM,hall_freq,true,&V_sD,&V_sQ,U_d,shutdown);
//hall_freq=CUR_FREQ;
//for resistence test, use SVM_speed_close_loop_of_voltage_frequency function
SVM_speed_close_loop_of_voltage_frequency(ref_freq_SVM,w_r,true,&V_sD,&V_sQ,U_d,shutdown);
//SVM_speed_close_loop_of_voltage_frequency(ref_freq_SVM,hall_freq,close_loop_SVM,&V_sD,&V_sQ,U_d,shutdown);
#define MAX_GEAR_CYCLES 100.0f
if (reference_electric_angle>=360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
reference_electric_angle=reference_electric_angle-360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
if (electric_angle<- 360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
reference_electric_angle=reference_electric_angle+360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
if (electric_angle>=360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
electric_angle=electric_angle-360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
if (electric_angle<-360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES)
electric_angle=electric_angle+360.0f*pole_pairs*gear_ratio*MAX_GEAR_CYCLES;
/*
if (shutdown==true)
electric_angle=0.0f;
*/
//SVM_torque_close_loop(t_e_ref,t_e,close_loop_SVM,&V_sD,&V_sQ);
//SVM_loop_control(hall_freq,MAXIMUM_OPEN_LOOP_SPEED,t_e_ref,ref_freq_SVM,&open_loop_SVM,&close_loop_SVM);
fast_vector_angle_and_magnitude(V_sQ,V_sD,&V_s,&cita_V_s);
required_V_sD = V_sD;
required_V_sQ = V_sQ;
required_V_s = V_s;
required_cita_V_s = cita_V_s;
SVM_Maximum_allowed_V_s_ref (&V_sD,&V_sQ,&V_s,U_d*UD_PERCENTAGE,&increase_flux);//0.70f);
V_s_ref_relative_angle = SVM_V_s_relative_angle (cita_V_s);
//cheating
//V_sD=required_V_sD;
//V_sQ=required_V_sQ;
float V_s_duty_cycle=0.0f;
float U_max=0.0f;
V_s_duty_cycle=V_s/(0.66666666666666666666f*U_d); //V_s_duty_cycle=V_s/( (2.0f/3.0f) *U_d);
U_max=U_d*0.66666666666666666666f;
T1 = SVM_T1 (V_s_duty_cycle,V_s,U_max, V_s_ref_relative_angle);
T2 = SVM_T2 (V_s_duty_cycle,V_s,U_max, V_s_ref_relative_angle);
T_min_on =SVM_T_min_on (1.0f, T1, T2); //T_min_on = SVM_T_min_on (1.0f, T1, T2);
T_med_on =SVM_T_med_on (T_min_on, T1,T2,cita_V_s);
T_max_on =SVM_T_max_on (T_med_on,T1,T2,cita_V_s);
SVM_phase_duty_cycles (&duty_a, &duty_b, &duty_c, cita_V_s,T_max_on,T_med_on,T_min_on);
//shutdown_SVM_speed (ref_freq_SVM,w_r,&shutdown);
/*shutdown_SVM_position ( ref_freq_SVM,
reference_change_electric_angle/(pole_pairs*gear_ratio) ,
reference_electric_angle/(pole_pairs*gear_ratio) ,
electric_angle/(pole_pairs*gear_ratio),
&shutdown);*/
//shutdown_admittance_speed (ref_freq_SVM,hall_freq,&shutdown);
//simple_shutdown(reference_change_electric_angle/(pole_pairs*gear_ratio),&shutdown);
shutdown_counter(ref_freq_SVM,&shutdown);
SVM_voltage_switch_inverter_VSI ( duty_a, duty_b, duty_c,shutdown);
}
if (center_aligned_state==FIRST_HALF)
{
center_aligned_state=SECOND_HALF;
}
else
{
center_aligned_state=FIRST_HALF;
}
}