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- % Clear workspace
- close all
- clear
- clc
- % Load model parameters
- Ts = 5e-6; % [s] Model sampling time (200 KHz)
- f_ctrl = 20e3; % [Hz] Controller frequency = 1/Ts_ctrl (20 kHz)
- Ts_ctrl = 1/f_ctrl; % [s] Controller sampling time (50us)
- f_speed_ctrl = 1e3; % [Hz] Speed/torque Controller frequency = (1 kHz)
- speed_ctrl = f_ctrl/f_speed_ctrl; % [count] Delay for f_speed_ctrl of the FOC controller
- i_pwm_count = f_ctrl/4;
- i_dead = 10;
- i_adc = 10;
- i_sample_before = 10;
- i_Udc = 48;
- i_half_pwm_count = i_pwm_count;
- i_sample_min = (i_dead + i_adc + i_sample_before);
- i_hall_count_max = 1/Ts;
- %Current sample hw parameters
- n_adc_max = 4096;
- n_resistance = 0.0005;
- n_ref_vol = 3.3;
- n_gain = 17.1;
- %VBUS sample parameters
- b_start_with_commutation = 0;
- % Sine/Cosine wave look-up table
- res_elecAngle = 0.25;
- a_elecAngle_XA = 0:res_elecAngle:360; % [deg] Electrical angle grid
- 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
- r_sin_M1 = sin((a_elecAngle_XA)*(pi/180));
- r_cos_M1 = cos((a_elecAngle_XA)*(pi/180));
- % Speed limitations
- n_max = 5000; % [rpm] Maximum motor speed: [-5000, 5000]
- % open loop speed -> voltage lookup table
- min_openVol = 10;
- % Motor parameters
- n_polePairs = 4; % [-] Number of motor pole pairs
- a_elecPeriod = 360; % [deg] Electrical angle period
- a_elecDeltaAngle = 60; % [deg] Electrical angle between two Hall sensor changing events
- a_mechAngle = a_elecDeltaAngle / n_polePairs; % [deg] Mechanical angle between two Hall sensor changing events
- r_whl = 6.5 * 2.54 * 1e-2 / 2; % [m] Wheel radius. Diameter = 6.5 inch (1 inch = 2.54 cm): Speed[kph] = rpm*(pi/30)*r_whl*3.6
- f_lpf_coeff = 0.4;
- %% F02_Diagnostics
- t_errQual = 0.24 * f_ctrl/3; % [s] Error qualification time
- t_errDequal = 1.80 * f_ctrl/3; % [s] Error dequalification time
- r_errInpTgtThres = 15; % [-] Error input target threshold (for "Blocked motor" detection)
- %hall, [4,6,2,3,1,5,4] [ 3,2,6,4,5,1]
- vec_hallToPos = [7 5 1 0 3 4 2 7]; % [-] Mapping Hall signal to position
- i_hall_offset = 60;%-30;
- % Speed Calculation Parameters
- cf_speedCoef = (i_hall_count_max * a_mechAngle * (pi/180) * (30/pi)); % [-] Speed calculation coefficient (factors are due to conversions rpm <-> rad/s)
- z_maxCntRst = i_hall_count_max; % [-] Maximum counter value for reset
- z_maxStillSecond = 2; %(second, also as time-out to detect standing still)
- n_commDeacvHi = 30; % [rpm] Commutation method deactivation speed high
- n_commAcvLo = 15; % [rpm] Commutation method activation speed low
- dz_cntTrnsDetHi = 140; % [-] Counter gradient High for transient behavior detection (used for speed estimation)
- dz_cntTrnsDetLo = 100; % [-] Counter gradient Low for steady state detection (used for speed estimation)
- n_stdStillDet = 3; % [rpm] Speed threshold for Stand still detection
- n_SpeedModeLo = 200; % min speed for exit speed ctrl mode
- n_SpeedModeHi = 300; % when speed is Hi can into speed ctrl mode
- % Motor Angle Measurement (e.g. using an encoder)
- b_angleMeasEna = 0; % [-] Enable flag for external mechanical motor angle sensor: 0 = estimated (default), 1 = measured
- % Control model request
- OPEN_MODE = 0; % [-] Open mode
- SPD_MODE = 1; % [-] Speed mode
- TRQ_MODE = 2; % [-] Torque mode
- z_ctrlModReq = TRQ_MODE; % [-] Control Mode Request (default)
- % Cruise control
- b_cruiseCtrlEna = 0; % [-] Cruise control enable flag: 0 = disable (default), 1 = enable
- n_cruiseMotTgt = 0; % [-] Cruise control motor speed target
- %% F04_Field_Weakening
- b_fieldWeakEna = 0; % [-] Field weakening enable flag: 0 = disable (default), 1 = enable
- r_fieldWeakHi = 1000; % [1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance
- r_fieldWeakLo = 750; % [ 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance
- n_fieldWeakAuthHi = 400; % [rpm] Motor speed High for field weakening authorization
- n_fieldWeakAuthLo = 300; % [rpm] Motor speed Low for field weakening authorization
- % FOC method
- id_fieldWeakMax = 5; % [A] Field weakening maximum current
- % Voltage Limitations
- V_modulation = 0.95; % [-] Voltage margin to make sure that there is a sufficiently wide pulse for a good phase current measurement
- Vd_max = i_Udc * V_modulation;
- Vq_max_XA = 0:1:Vd_max;
- Vq_max_M1 = sqrt(Vd_max^2 - Vq_max_XA.^2); % Circle limitations look-up table
- i_sca = 1; % [-] [not tunable] Scalling factor A to int16 (50 = 1/0.02)
- % Current Limitations
- i_max = 120; % [A] Maximum allowed motor current (continuous)
- i_max = i_max * i_sca;
- iq_maxSca_XA = 0:0.02:0.99;
- iq_maxSca_XA = fixpt_evenspace_cleanup(iq_maxSca_XA, ufix(16), 2^-16); % Make sure the data is evely spaced up to the last bit
- iq_maxSca_M1 = sqrt(1 - iq_maxSca_XA.^2); % Current circle limitations map
-
- % D axis control gains
- cf_idKp = 4.0; % [-] P gain
- cf_idKi = 0.05; % [-] I gain
- cf_idKb = 1.0;
- % Q axis control gains
- cf_iqKp = 4.0; % [-] P gain
- cf_iqKi = 0.05; % [-] I gain
- cf_iqKb = 1.0;
- % Speed control gains
- cf_nKp = 3.1; % [-] P gain
- cf_nKi = 0.01;% [-] I gain
- cf_nKb = 0.02;
- % Torque iq limit
- cf_torqKLimHi = 0.8;
- cf_torqKLimLo = -0.1;
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