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@@ -1,41 +1,14 @@
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-
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-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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-% This file is part of the hoverboard-new-firmware-hack-FOC project
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-% Compared to previouse commutation method, this project implements
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-% FOC (Field Oriented Control) for BLDC motors with Hall sensors.
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-% The new control methods offers superior performanace
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-% compared to previous method featuring:
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-% >> reduced noise and vibrations
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-% >> smooth torque output
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-% >> improved motor efficiency -> lower energy consumption
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-%
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-% Author: Emanuel FERU
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-% Copyright � 2019-2021 Emanuel FERU <aerdronix@gmail.com>
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-%
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-% This program is free software: you can redistribute it and/or modify
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-% it under the terms of the GNU General Public License as published by
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-% the Free Software Foundation, either version 3 of the License, or
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-% (at your option) any later version.
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-%
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-% This program is distributed in the hope that it will be useful,
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-% but WITHOUT ANY WARRANTY; without even the implied warranty of
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-% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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-% GNU General Public License for more details.
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-%
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-% You should have received a copy of the GNU General Public License
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-% along with this program. If not, see <http://www.gnu.org/licenses/>.
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-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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-
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% Clear workspace
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close all
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clear
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clc
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% Load model parameters
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-Ts = 5e-6; % [s] Model sampling time (1 MHz)
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-f_ctrl = 20e3; % [Hz] Controller frequency = 1/Ts_ctrl (16 kHz)
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-Ts_ctrl = 1/f_ctrl; % [s] Controller sampling time (~16 kHz)
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-speed_ctrl = 20; %delay for f_ctrl
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+Ts = 5e-6; % [s] Model sampling time (200 KHz)
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+f_ctrl = 20e3; % [Hz] Controller frequency = 1/Ts_ctrl (20 kHz)
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+Ts_ctrl = 1/f_ctrl; % [s] Controller sampling time (50us)
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+f_speed_ctrl = 1e3; % [Hz] Speed/torque Controller frequency = (1 kHz)
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+speed_ctrl = f_ctrl/f_speed_ctrl; % [count] Delay for f_speed_ctrl of the FOC controller
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i_pwm_count = f_ctrl/4;
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i_dead = 10;
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i_adc = 10;
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@@ -45,15 +18,7 @@ i_half_pwm_count = i_pwm_count;
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i_sample_min = (i_dead + i_adc + i_sample_before);
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i_hall_count_max = 1/Ts;
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-% Motor Paramaters
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-Rs = 0.0918;
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-Ld = 0.0009262;
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-Lq = 0.001024;
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-band_current = 3.14 * 2 * 4000;
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-% Kp = 0.0009262 * 3.14 * 8000 = 26
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-% Ki = 0.0918/0.0009262 = 99.11
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-% Kserial = 99.11 / 0.5816 = 170.42
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-% Current sample parameters
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+%Current sample hw parameters
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n_adc_max = 4096;
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n_resistance = 0.0005;
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n_ref_vol = 3.3;
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@@ -63,8 +28,9 @@ n_gain = 17.1;
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b_start_with_commutation = 0;
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% Sine/Cosine wave look-up table
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-res_elecAngle = 1;
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+res_elecAngle = 0.25;
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a_elecAngle_XA = 0:res_elecAngle:360; % [deg] Electrical angle grid
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+a_elecAngle_XA = fixpt_evenspace_cleanup(a_elecAngle_XA, sfix(16), 2^-3); % Make sure the data is evely spaced up to the last bit
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r_sin_M1 = sin((a_elecAngle_XA)*(pi/180));
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r_cos_M1 = cos((a_elecAngle_XA)*(pi/180));
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@@ -72,11 +38,8 @@ r_cos_M1 = cos((a_elecAngle_XA)*(pi/180));
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n_max = 5000; % [rpm] Maximum motor speed: [-5000, 5000]
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% open loop speed -> voltage lookup table
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-res_rpm_openloop = 100;
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-delta_rpm_openloop = 100; % delta rpm that when speed decreased, enter open loop
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-min_start_voltage_openloop = 10;
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min_openVol = 10;
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-a_rpm_step = i_Udc / (n_max / res_rpm_openloop);
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+
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% Motor parameters
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n_polePairs = 4; % [-] Number of motor pole pairs
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a_elecPeriod = 360; % [deg] Electrical angle period
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huhui