Instaspin-foc的参数辨识程序-lab02b

ming chen3

Genius 5290 points

Other Parts Discussed in Thread: MOTORWARE

1.lab02b相对lab02a将ctrl_run()函数开源，

2.控制器有三种状态：

if(ctrlState == CTRL_State_OnLine)
{
CTRL_Obj *obj = (CTRL_Obj *)handle;

// increment the current count
CTRL_incrCounter_current(handle);

// increment the speed count
CTRL_incrCounter_speed(handle);

if(EST_getState(obj->estHandle) >= EST_State_MotorIdentified)
{
// run the online controller
CTRL_runOnLine_User(handle,pAdcData,pPwmData);
}
else
{
// run the online controller
CTRL_runOnLine(handle,pAdcData,pPwmData);
}
}
else if(ctrlState == CTRL_State_OffLine)
{
// run the offline controller
CTRL_runOffLine(handle,halHandle,pAdcData,pPwmData);
}
else if(ctrlState == CTRL_State_Idle)
{
// set all pwm outputs to zero
pPwmData->Tabc.value[0] = _IQ(0.0);
pPwmData->Tabc.value[1] = _IQ(0.0);
pPwmData->Tabc.value[2] = _IQ(0.0);
}

idle:PWM输出置0；

offline:CTRL_runOffLine（）函数进行offset计算（一阶滤波），和将PWM置0；

online:如果电机辨识完成，运行CTRL_runOnLine_User(handle,pAdcData,pPwmData);//FOC实现程序，将2a的代码开源

电机未辨识，运行CTRL_runOnLine(handle,pAdcData,pPwmData);电机进行R、L、RATED_FLUX是否是在这里进行，估算器EST代码是否开源：

就是实现电机参数辨识的算法，在CTRL_runOnLine（）函数没有找到相关代码。

对比CTRL_runOnLine_User(handle,pAdcData,pPwmData)函数和CTRL_runOnLine_User(handle,pAdcData,pPwmData)函数并没有太大的区别，这是怎么实现的电机参数辨识算法？

3.FAST observer是FAST观测器 ,输出Flux、angle 、speed、torque.

估算器EST指的就是运行电机参数辨识的程序吗，

这两个是不同的，是吗？谢谢~

9 年多前

0 HeiHei 9 年多前

TI__Expert 4625 points

EST就是运行电机参数辨识。

0 ming chen3 9 年多前回复 HeiHei

Genius 5290 points

文档中写到：

when the motor is being identified CTRL_runOnLine is executed from ROM. After the motor is identified, CTRL_runOnLine_User is run from user RAM. CTRL_runOnLine_User is an inlined function that is located in ctrl.h. It contains the entire FOC implementation with calls to the FAST observer for rotor flux angle values.

电机未辨识，运行CTRL_runOnLine(handle,pAdcData,pPwmData);电机进行参数辨识的估算器算法在这里执行完成。

电机识别完成，运行CTRL_runOnLine_User(handle,pAdcData,pPwmData);//调用FAST观测器的电角度实现完整的FOC控制。

这两个函数实现不同的功能，对比CTRL_runOnLine_User(handle,pAdcData,pPwmData)函数和CTRL_runOnLine_User(handle,pAdcData,pPwmData)函数并没有太大的区别，请详细分析下电机参数辨识在CTRL_runOnLine函数是如何实现的？估算器部分程序不开源具体是在哪里调用的，谢谢

附上CTRL_runOnLine(handle,pAdcData,pPwmData)函数：

//! \brief Runs the online controller
//! \param[in] handle The controller (CTRL) handle
//! \param[in] pAdcData The pointer to the ADC data
//! \param[out] pPwmData The pointer to the PWM data
inline void CTRL_runOnLine(CTRL_Handle handle,
const HAL_AdcData_t *pAdcData,HAL_PwmData_t *pPwmData)
{
CTRL_Obj *obj = (CTRL_Obj *)handle;

_iq angle_pu;

MATH_vec2 phasor;

// run Clarke transform on current
CLARKE_run(obj->clarkeHandle_I,&pAdcData->I,CTRL_getIab_in_addr(handle));

// run Clarke transform on voltage
CLARKE_run(obj->clarkeHandle_V,&pAdcData->V,CTRL_getVab_in_addr(handle));

// run the estimator
EST_run(obj->estHandle,CTRL_getIab_in_addr(handle),CTRL_getVab_in_addr(handle),
pAdcData->dcBus,TRAJ_getIntValue(obj->trajHandle_spd));

// generate the motor electrical angle
angle_pu = EST_getAngle_pu(obj->estHandle);

// compute the sin/cos phasor
CTRL_computePhasor(angle_pu,&phasor);

// set the phasor in the Park transform
PARK_setPhasor(obj->parkHandle,&phasor);

// run the Park transform
PARK_run(obj->parkHandle,CTRL_getIab_in_addr(handle),CTRL_getIdq_in_addr(handle));

// when appropriate, run the PID speed controller
if(EST_doSpeedCtrl(obj->estHandle))
{
if(CTRL_doSpeedCtrl(handle))
{
_iq refValue = TRAJ_getIntValue(obj->trajHandle_spd);
_iq fbackValue = EST_getFm_pu(obj->estHandle);
_iq outMax = TRAJ_getIntValue(obj->trajHandle_spdMax);
_iq outMin = -outMax;

// reset the speed count
CTRL_resetCounter_speed(handle);

PID_setMinMax(obj->pidHandle_spd,outMin,outMax);

PID_run_spd(obj->pidHandle_spd,refValue,fbackValue,CTRL_getSpd_out_addr(handle));
}
}
else
{
// zero the speed command
CTRL_setSpd_out_pu(handle,_IQ(0.0));

// reset the integrator
PID_setUi(obj->pidHandle_spd,_IQ(0.0));
}

// when appropriate, run the PID Id and Iq controllers
if(CTRL_doCurrentCtrl(handle) && EST_doCurrentCtrl(obj->estHandle))
{
_iq Kp_Id = CTRL_getKp(handle,CTRL_Type_PID_Id);
_iq Kp_Iq = CTRL_getKp(handle,CTRL_Type_PID_Iq);
_iq refValue;
_iq fbackValue;
_iq outMin,outMax;

_iq maxVsMag = CTRL_getMaxVsMag_pu(handle);

// reset the current count
CTRL_resetCounter_current(handle);

// ***********************************
// configure and run the Id controller

// compute the Kp gain
// Scale Kp instead of output to prevent saturation issues
if(CTRL_getFlag_enableDcBusComp(handle))
{
Kp_Id = _IQmpy(Kp_Id,EST_getOneOverDcBus_pu(obj->estHandle));
}

PID_setKp(obj->pidHandle_Id,Kp_Id);

// compute the reference value
refValue = TRAJ_getIntValue(obj->trajHandle_Id) + CTRL_getId_ref_pu(handle);

// update the Id reference value
EST_updateId_ref_pu(obj->estHandle,&refValue);

// get the feedback value
fbackValue = CTRL_getId_in_pu(handle);

// set minimum and maximum for Id controller output
outMax = maxVsMag;
outMin = -outMax;

// set the minimum and maximum values
PID_setMinMax(obj->pidHandle_Id,outMin,outMax);

// run the Id PID controller
PID_run(obj->pidHandle_Id,refValue,fbackValue,CTRL_getVd_out_addr(handle));

// set the Id reference value in the estimator
EST_setId_ref_pu(obj->estHandle,refValue);

// ***********************************
// configure and run the Iq controller

// compute the Kp gain
// Scale Kp instead of output to prevent saturation issues
if(CTRL_getFlag_enableDcBusComp(handle))
{
Kp_Iq = _IQmpy(Kp_Iq,EST_getOneOverDcBus_pu(obj->estHandle));
}

PID_setKp(obj->pidHandle_Iq,Kp_Iq);

// get the reference value
if(CTRL_getFlag_enableSpeedCtrl(handle))
{
if(!CTRL_useZeroIq_ref(handle))
{
refValue = CTRL_getSpd_out_pu(handle);
}
else
{
refValue = _IQ(0.0);
}
}
else
{
// get the Iq reference value
refValue = CTRL_getIq_ref_pu(handle);
}

// get the feedback value
fbackValue = CTRL_getIq_in_pu(handle);

// generate the Iq PID output limits without square root
outMax = maxVsMag - _IQabs(CTRL_getVd_out_pu(handle));
outMin = -outMax;

// set the minimum and maximum values
PID_setMinMax(obj->pidHandle_Iq,outMin,outMax);

// run the Iq PID controller
PID_run(obj->pidHandle_Iq,refValue,fbackValue,CTRL_getVq_out_addr(handle));

// set the Iq reference value in the estimator
EST_setIq_ref_pu(obj->estHandle,refValue);
}

// set the phasor in the inverse Park transform
IPARK_setPhasor(obj->iparkHandle,&phasor);

// run the inverse Park module
IPARK_run(obj->iparkHandle,CTRL_getVdq_out_addr(handle),CTRL_getVab_out_addr(handle));

// run the space Vector Generator (SVGEN) module
SVGEN_run(obj->svgenHandle,CTRL_getVab_out_addr(handle),&(pPwmData->Tabc));

return;
} // end of CTRL_runOnLine() function

附上CTRL_runOnLine_User(handle,pAdcData,pPwmData)函数：
//! \brief Runs the online user controller
//! \details An implementation of the field oriented control. The online user controller
//! is executed in user's memory i.e. RAM/FLASH and can be changed in any way
//! suited to the user.
//! \param[in] handle The controller (CTRL) handle
//! \param[in] pAdcData The pointer to the ADC data
//! \param[out] pPwmData The pointer to the PWM data
inline void CTRL_runOnLine_User(CTRL_Handle handle,
const HAL_AdcData_t *pAdcData,HAL_PwmData_t *pPwmData)
{
CTRL_Obj *obj = (CTRL_Obj *)handle;

_iq angle_pu;

MATH_vec2 phasor;

// run Clarke transform on current
CLARKE_run(obj->clarkeHandle_I,&pAdcData->I,CTRL_getIab_in_addr(handle));

// run Clarke transform on voltage
CLARKE_run(obj->clarkeHandle_V,&pAdcData->V,CTRL_getVab_in_addr(handle));

// run the estimator
EST_run(obj->estHandle,CTRL_getIab_in_addr(handle),CTRL_getVab_in_addr(handle),
pAdcData->dcBus,TRAJ_getIntValue(obj->trajHandle_spd));

// generate the motor electrical angle
angle_pu = EST_getAngle_pu(obj->estHandle);

// compute the sin/cos phasor
CTRL_computePhasor(angle_pu,&phasor);

// set the phasor in the Park transform
PARK_setPhasor(obj->parkHandle,&phasor);

// run the Park transform
PARK_run(obj->parkHandle,CTRL_getIab_in_addr(handle),CTRL_getIdq_in_addr(handle));

// when appropriate, run the PID speed controller
if(CTRL_doSpeedCtrl(handle))
{
_iq refValue = TRAJ_getIntValue(obj->trajHandle_spd);
_iq fbackValue = EST_getFm_pu(obj->estHandle);
_iq outMax = TRAJ_getIntValue(obj->trajHandle_spdMax);
_iq outMin = -outMax;

// reset the speed count
CTRL_resetCounter_speed(handle);

PID_setMinMax(obj->pidHandle_spd,outMin,outMax);

PID_run_spd(obj->pidHandle_spd,refValue,fbackValue,CTRL_getSpd_out_addr(handle));
}

// when appropriate, run the PID Id and Iq controllers
if(CTRL_doCurrentCtrl(handle))
{
_iq Kp_Id = CTRL_getKp(handle,CTRL_Type_PID_Id);
_iq Kp_Iq = CTRL_getKp(handle,CTRL_Type_PID_Iq);
_iq refValue;
_iq fbackValue;
_iq outMin,outMax;

// read max voltage vector to set proper limits to current controllers
_iq maxVsMag = CTRL_getMaxVsMag_pu(handle);