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industry/foc foc_ident: adding flux linkage identification

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zouboan 2022-05-31 20:12:16 +08:00 • committed by Xiang Xiao
parent 5ae5ab7f44
commit 30dbdf71ff
3 changed files with 248 additions and 24 deletions
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39
include/industry/foc/float/foc_ident.h
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@ -35,13 +35,47 @@
* Public Type Definition
****************************************************************************/
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
/* Identification routine callbacks */
struct foc_routine_ident_cb_f32_s
{
/* Private data for angle callbacks */
FAR void *priv_angle;
/* Private data for speed callbacks */
FAR void *priv_speed;
/* Openloop angle zero callback */
CODE int (*zero)(FAR void *priv);
/* Identification openloop angle callback */
CODE float (*angle)(FAR void *priv, float speed, float dir);
/* Identification openloop speed callback */
CODE float (*speed)(FAR void *priv, float des, float now);
};
#endif
/* Identification routine configuration */
struct foc_routine_ident_cfg_f32_s
{
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
struct foc_routine_ident_cb_f32_s cb; /* Identification routine callbacks */
float flux_vel; /* Flux linkage measurement velocity */
float flux_volt; /* Flux linkage measurement voltage */
int flux_steps; /* Flux linkage measurement steps */
#endif
float per; /* Routine period in sec */
float res_current; /* Resistance measurement current */
float ind_volt; /* Inductance measurement current */
float ind_volt; /* Inductance measurement voltage */
int res_steps; /* Resistance measurement steps */
int ind_steps; /* Inductance measurement steps */
int idle_steps; /* IDLE steps */
@ -54,6 +88,9 @@ struct foc_routine_ident_final_f32_s
bool ready; /* Result ready */
float res; /* Phase resistance */
float ind; /* Phase inductance */
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
float flux; /* Motor flux linkage */
#endif
};
/****************************************************************************