📄 mc_control_param.h
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/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name : MC_Control_Param.h
* Author : IMS Systems Lab
* Date First Issued : 21/11/07
* Description : This file gathers parameters related to:
* power devices, speed regulation frequency, PID controllers
* setpoints and constants, start-up ramp, lowest values for
* speed reading validation.
********************************************************************************
* History:
* 21/11/07 v1.0
* 29/05/08 v2.0
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* THIS SOURCE CODE IS PROTECTED BY A LICENSE.
* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE LOCATED
* IN THE ROOT DIRECTORY OF THIS FIRMWARE PACKAGE.
*******************************************************************************/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MC_CONTROL_PARAM_H
#define __MC_CONTROL_PARAM_H
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/*********************** POWER DEVICES PARAMETERS ******************************/
/**** Power devices switching frequency ****/
#define PWM_FREQ ((u16) 15000) // in Hz (N.b.: pattern type is center aligned)
/**** Deadtime Value ****/
#define DEADTIME_NS ((u16)800) //in nsec; range is [0...3500]
/**** Uncomment the Max modulation index ****/
/**** corresponding to the selected PWM frequency ****/
//#define MAX_MODULATION_100_PER_CENT // up to 11.4 kHz PWM frequency
//#define MAX_MODULATION_99_PER_CENT // up to 11.8 kHz
//#define MAX_MODULATION_98_PER_CENT // up to 12.2 kHz
//#define MAX_MODULATION_97_PER_CENT // up to 12.9 kHz
//#define MAX_MODULATION_96_PER_CENT // up to 14.4 kHz
#define MAX_MODULATION_95_PER_CENT // up to 14.8 kHz
//#define MAX_MODULATION_94_PER_CENT // up to 15.2 kHz
//#define MAX_MODULATION_93_PER_CENT // up to 16.7 kHz
//#define MAX_MODULATION_92_PER_CENT // up to 17.1 kHz
//#define MAX_MODULATION_89_PER_CENT // up to 17.5 kHz
/*********************** CURRENT REGULATION PARAMETERS ************************/
//该参数可以调整电流环的刷新频率 SAMPLING_FREQ
/**** ADC IRQ-HANDLER frequency, related to PWM ****/
#define REP_RATE (1) // (N.b): Internal current loop is performed every
// (REP_RATE + 1)/(2*PWM_FREQ) seconds.
// REP_RATE has to be an odd number in case of three-shunt
// current reading; this limitation doesn't apply to ICS
//Not to be modified
#define SAMPLING_FREQ ((u16)PWM_FREQ/((REP_RATE+1)/2)) // Resolution: 1Hz
/********************** POWER BOARD PROTECTIONS THRESHOLDS ********************/
#define NTC_THRESHOLD_C 70 //癈 on heatsink of MB459 board
#define NTC_HYSTERIS_C 5 // Temperature hysteresis (癈)
#define OVERVOLTAGE_THRESHOLD_V 55 //Volt on DC Bus of MB459 board
#define UNDERVOLTAGE_THRESHOLD_V 22 //Volt on DC Bus of MB459 board
//直流母线电压检测分压电阻比值，应该使用1%精度的电阻。
// #define BUS_ADC_CONV_RATIO 0.091 /* DC bus voltage partitioning ratio*/
#define BUS_ADC_CONV_RATIO 0.027 /* DC bus voltage partitioning ratio*/
/*********************** SPEED LOOP SAMPLING TIME *****************************/
//Not to be modified
#define PID_SPEED_SAMPLING_500us 0 // min 500usec
#define PID_SPEED_SAMPLING_1ms 1
#define PID_SPEED_SAMPLING_2ms 3 // (3+1)*500usec = 2msec
#define PID_SPEED_SAMPLING_5ms 9 // (9+1)*500usec = 5msec
#define PID_SPEED_SAMPLING_10ms 19 // (19+1)*500usec = 10msec
#define PID_SPEED_SAMPLING_20ms 39 // (39+1)*500usec = 20msec
#define PID_SPEED_SAMPLING_127ms 255 // max (255-1)*500us = 127 ms
//User should make his choice here below
#define PID_SPEED_SAMPLING_TIME (u8)(PID_SPEED_SAMPLING_2ms)
/******************** SPEED PID-CONTROLLER INIT VALUES************************/
/* default values for Speed control loop */
#define PID_SPEED_REFERENCE_RPM (s16)1500
#define PID_SPEED_KP_DEFAULT (s16)300
#define PID_SPEED_KI_DEFAULT (s16)100
#define PID_SPEED_KD_DEFAULT (s16)0000
/* Speed PID parameter dividers */
#define SP_KPDIV ((u16)(16))
#define SP_KIDIV ((u16)(256))
#define SP_KDDIV ((u16)(16))
/************** QUADRATURE CURRENTS PID-CONTROLLERS INIT VALUES **************/
// With MB459 phase current (A)= (PID_X_REFERENCE * 0.29)/(32767 * Rshunt)
/* default values for Torque control loop */ //额定电流为：5A，5 * 1241 = 6205
#define PID_TORQUE_REFERENCE (s16)3000 //(N.b: that's the reference init
//value in both torque and speed control)
//#define PID_TORQUE_KP_DEFAULT (s16)3314
//#define PID_TORQUE_KI_DEFAULT (s16)274
//#define PID_TORQUE_KD_DEFAULT (s16)100
#define PID_TORQUE_KP_DEFAULT (s16)1578
#define PID_TORQUE_KI_DEFAULT (s16)676
#define PID_TORQUE_KD_DEFAULT (s16)100
/* default values for Flux control loop */
#define PID_FLUX_REFERENCE (s16)0
//#define PID_FLUX_KP_DEFAULT (s16)3314
//#define PID_FLUX_KI_DEFAULT (s16)274
//#define PID_FLUX_KD_DEFAULT (s16)100
#define PID_FLUX_KP_DEFAULT (s16)1578
#define PID_FLUX_KI_DEFAULT (s16)676
#define PID_FLUX_KD_DEFAULT (s16)100
// Toruqe/Flux PID parameter dividers
#define TF_KPDIV ((u16)(2048))
#define TF_KIDIV ((u16)(16384))
#define TF_KDDIV ((u16)(8192))
/* Define here below the period of the square waved reference torque generated
when FLUX_TORQUE_PIDs_TUNING is uncommented in STM32F10x_MCconf.h */
#define SQUARE_WAVE_PERIOD (u16)2000//in msec
/******* Ki, Kp, Kd COEFFICIENT CALCULATION ********************/
/******* Speed control operation ***********************
/|\ /
| /
| /
| /
| _________/
| /
| /
|/_________________________\
Fmin F_1 F_2 Fmax /
We assume a linear variation of Ki, Kp, Kd coefficients following
the motor speed. 2 intermediate frequencies ar set (see definition here after)
and 3 terms (Ki,Kp,Kd) associated with Fmin, F_1, F_2, Fmax
(total: 4+4+4 terms); following linear coefficients are used to compute each term.
Example:
Fmin = 500 <-> 50 Hz (reminder -> mechanical frequency with 0.1 Hz resolution!)
Ki_min = 20 Kp_min = 40 Kd_min = 500
F_1 = 2000 <-> 200 Hz
Ki_1 = 80 Kp_1 = 1000 Kd_1 = 260
then:
alpha_Ki_1 = (Ki_1-Ki_Fmin)/(F_1-Fmin) = 60/1500 = 0.04
alpha_Kp_1 = (Kp_1-Kp_Fmin)/(F_1-Fmin) = 960/1500 = 0.64
alpha_Kd_1 = (Kd_1-Kd_Fmin)/(F_1-Fmin) = -240/1500 = -0.16
** Result **
From Freq_Min to F_1, Ki, Kp, Kd will then obey to:
Ki = Ki_Fmin + alpha_Ki_1*(Freq_motor-Freq_Min)
Kp = Kp_Fmin + alpha_Kp_1*(Freq_motor-Freq_Min)
Kd = Kd_Fmin + alpha_Kd_1*(Freq_motor-Freq_Min)
*********************************************************************************/
//Settings for min frequency
#define Freq_Min (u16)10 // 1 Hz mechanical
#define Ki_Fmin (u16)1000 // Frequency min coefficient settings
#define Kp_Fmin (u16)2000
#define Kd_Fmin (u16)0
//Settings for intermediate frequency 1
#define F_1 (u16)50 // 5 Hz mechanical
#define Ki_F_1 (u16)2000 // Intermediate frequency 1 coefficient settings
#define Kp_F_1 (u16)1000
#define Kd_F_1 (u16)0
//Settings for intermediate frequency 2
#define F_2 (u16)200 // 20 Hz mechanical
#define Ki_F_2 (u16)1000 // Intermediate frequency 2 coefficient settings
#define Kp_F_2 (u16)750
#define Kd_F_2 (u16)0
//Settings for max frequency
#define Freq_Max (u16)500 // 50 Hz mechanical
#define Ki_Fmax (u16)500 // Frequency max coefficient settings
#define Kp_Fmax (u16)500
#define Kd_Fmax (u16)0
/********************************************************************************/
/* Do not modify */
/* linear coefficients */
#define alpha_Ki_1 (s32)( ((s32)((s16)Ki_F_1-(s16)Ki_Fmin)*1024) / (s32)(F_1-Freq_Min) )
#define alpha_Kp_1 (s32)( ((s32)((s16)Kp_F_1-(s16)Kp_Fmin)*1024) / (s32)(F_1-Freq_Min) )
#define alpha_Kd_1 (s32)( ((s32)((s16)Kd_F_1-(s16)Kd_Fmin)*1024) / (s32)(F_1-Freq_Min) )
#define alpha_Ki_2 (s32)( ((s32)((s16)Ki_F_2-(s16)Ki_F_1)*1024) / (s32)(F_2-F_1) )
#define alpha_Kp_2 (s32)( ((s32)((s16)Kp_F_2-(s16)Kp_F_1)*1024) / (s32)(F_2-F_1) )
#define alpha_Kd_2 (s32)( ((s32)((s16)Kd_F_2-(s16)Kd_F_1)*1024) / (s32)(F_2-F_1) )
#define alpha_Ki_3 (s32)( ((s32)((s16)Ki_Fmax-(s16)Ki_F_2)*1024) / (s32)(Freq_Max-F_2) )
#define alpha_Kp_3 (s32)( ((s32)((s16)Kp_Fmax-(s16)Kp_F_2)*1024) / (s32)(Freq_Max-F_2) )
#define alpha_Kd_3 (s32)( ((s32)((s16)Kd_Fmax-(s16)Kd_F_2)*1024) / (s32)(Freq_Max-F_2) )
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
#endif /* __MC_CONTROL_PARAM_H */
/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/
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