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examples/foc: add support for feedforward compensation

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raiden00pl 2023-10-12 12:40:37 +02:00 • committed by Xiang Xiao
parent c8a4abfcb2
commit 9dde6983e6
3 changed files with 26 additions and 0 deletions
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10
examples/foc/Kconfig
View file

@ -415,6 +415,16 @@ config EXAMPLES_FOC_OPENLOOP_Q
default 200
depends on EXAMPLES_FOC_HAVE_OPENLOOP
config EXAMPLES_FOC_FEEDFORWARD
bool "FOC use feedforward compensation for current controller"
select INDUSTRY_FOC_FEEDFORWARD
default n
---help---
This option enables feed-forward compensation for PI current controller
which can help achieve better performace of FOC. This option is not
recomended for sensorless operations and for current controllers that
already has high update frequency.
if EXAMPLES_FOC_CONTROL_PI
config EXAMPLES_FOC_IDQ_KP

8
examples/foc/foc_motor_b16.c
View file

@ -30,6 +30,9 @@
#include "foc_cfg.h"
#include "foc_debug.h"
#include "foc_motor_b16.h"
#ifdef CONFIG_EXAMPLES_FOC_FEEDFORWARD
# include "industry/foc/float/foc_feedforward.h"
#endif
/****************************************************************************
* Pre-processor Definitions
@ -862,8 +865,13 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
/* DQ compensation */
#ifdef CONFIG_EXAMPLES_FOC_FEEDFORWARD
foc_feedforward_pmsm_b16(&motor->phy, &motor->foc_state.idq,
motor->vel.now, &motor->vdq_comp);
#else
motor->vdq_comp.q = 0;
motor->vdq_comp.d = 0;
#endif
errout:
return ret;

8
examples/foc/foc_motor_f32.c
View file

@ -30,6 +30,9 @@
#include "foc_cfg.h"
#include "foc_debug.h"
#include "foc_motor_f32.h"
#ifdef CONFIG_EXAMPLES_FOC_FEEDFORWARD
# include "industry/foc/float/foc_feedforward.h"
#endif
/****************************************************************************
* Pre-processor Definitions
@ -846,8 +849,13 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
/* DQ compensation */
#ifdef CONFIG_EXAMPLES_FOC_FEEDFORWARD
foc_feedforward_pmsm_f32(&motor->phy, &motor->foc_state.idq,
motor->vel.now, &motor->vdq_comp);
#else
motor->vdq_comp.q = 0.0f;
motor->vdq_comp.d = 0.0f;
#endif
errout:
return ret;