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@@ -3,6 +3,7 @@
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#include "math/fast_math.h"
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#include "foc/motor/mot_params_ind.h"
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#include "libs/logger.h"
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+#include "foc/samples.h"
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#include "prot/can_foc_msg.h"
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/*
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@@ -87,6 +88,7 @@ static void _rs_ind_timer_handler(shark_timer_t *t) {
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}
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}else {
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wait_iq_0_cnt = 0;
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+ delay_ms(100);
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rs_ind_step = 3;
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sys_debug("start rs calc, %d\n", rs_meas_time);
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}
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@@ -94,8 +96,12 @@ static void _rs_ind_timer_handler(shark_timer_t *t) {
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case 3: {
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float *iabc = motor.controller.foc.in.curr_abc;
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float d, q;
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+ float v_a_final = 0;
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+ float v_abc[3] = {0, 0, 0};
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foc_abc_2_dq(SIGN(iabc[0]), SIGN(iabc[1]), SIGN(iabc[2]), &d, &q);
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- float dtc = ((float)CONFIG_HW_DeadTime/(float)FOC_PWM_Half_Period) * motor.controller.foc.in.dc_vol * 1.5f;
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+ get_uvw_phases_raw(v_abc);
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+ v_a_final = LowPass_Filter(v_a_final, v_abc[0], 0.2f);
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+ float dtc = ((float)CONFIG_HW_DeadTime/(float)FOC_PWM_period) * motor.controller.foc.in.dc_vol * TWO_BY_THREE;
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float vd = (rs_vd_now - dtc) * TWO_BY_THREE;
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float id = motor.controller.foc.out.curr_dq.d;
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float rs = vd / (id + 0.0001f);
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@@ -106,8 +112,9 @@ static void _rs_ind_timer_handler(shark_timer_t *t) {
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mc_ind_motor_start(false);
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finish = true;
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b_rs_ested = true;
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- sys_debug("est rs = %f\n", rs_est_value);
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- sys_debug("vd-id is %f-%f-%f, wait %d\n", rs_vd_now, id, dtc/1.5f, wait_iq_0_cnt);
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+ sys_debug("est rs = %f-%f\n", rs_est_value, rs);
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+ sys_debug("vd-id is %f-%f-%f-%f, wait %d\n", rs_vd_now, id, dtc/1.5f, vd, wait_iq_0_cnt);
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+ sys_debug("Va = %f\n", v_a_final);
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}
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}
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default:
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@@ -145,7 +152,7 @@ void mot_params_ind_inductance(float v, float freq, u16 l_type) {
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hj_n = (float)FOC_PWM_FS / hj_freq;
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hj_samples = hj_n * 50;
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K_terms = (s32) (0.5f + hj_samples*hj_freq/(float)FOC_PWM_FS);
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- Vdead = motor.controller.foc.in.dc_vol * 0.5f * (float)CONFIG_HW_DeadTime / (float)FOC_PWM_period;
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+ Vdead = motor.controller.foc.in.dc_vol * (float)CONFIG_HW_DeadTime / (float)FOC_PWM_period * TWO_BY_THREE;
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hj_w = 360.0f / hj_n;
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sys_debug("hj %f, %f, %f, %f, %f, %f, %f\n", hj_v, hj_freq, hj_n, hj_samples, K_terms, Vdead, hj_w);
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float fft_angle = 360.0f / hj_samples * K_terms;
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@@ -265,7 +272,7 @@ void mot_params_calc_inductance(void) {
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float z_image = z_mag * s;
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float Rs = rs_est_value;
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float Ri = (SQ(z_real - Rs) + SQ(z_image))/(z_real - Rs + 0.0000001f);
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- float l = Ri * (z_real - Rs)/(hj_freq * 2 * PI * z_image + 0.0000001f) * 0.83f; //0.83f just for v3 board
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+ float l = Ri * (z_real - Rs)/(hj_freq * 2 * PI * z_image + 0.0000001f) * 0.9f;
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if (n_ind_ld == L_TYPE_D) {
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ld_est_value = l;
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b_ld_ested = true;
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kevin