%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % This file is part of the hoverboard-new-firmware-hack-FOC project % Compared to previouse commutation method, this project implements % FOC (Field Oriented Control) for BLDC motors with Hall sensors. % The new control methods offers superior performanace % compared to previous method featuring: % >> reduced noise and vibrations % >> smooth torque output % >> improved motor efficiency -> lower energy consumption % % Author: Emanuel FERU % Copyright © 2019-2021 Emanuel FERU % % This program is free software: you can redistribute it and/or modify % it under the terms of the GNU General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % This program is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU General Public License for more details. % % You should have received a copy of the GNU General Public License % along with this program. If not, see . %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Clear workspace close all clear clc % Load model parameters load BLDCmotorControl_data; Ts = 5e-6; % [s] Model sampling time (200 kHz) Ts_ctrl = 6e-5; % [s] Controller sampling time (~16 kHz) f_ctrl = 16e3; % [Hz] Controller frequency = 1/Ts_ctrl (16 kHz) % Ts_ctrl = 12e-5; % [s] Controller sampling time (~8 kHz) % Motor parameters n_polePairs = 15; % [-] Number of motor pole pairs a_elecPeriod = 360; % [deg] Electrical angle period a_elecAngle = 60; % [deg] Electrical angle between two Hall sensor changing events a_mechAngle = a_elecAngle / 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 i_sca = 50; % [-] [not tunable] Scalling factor A to int16 (50 = 1/0.02) % Sine/Cosine wave look-up table res_elecAngle = 2; a_elecAngle_XA = 0:res_elecAngle:360; % [deg] Electrical angle grid r_sin_M1 = sin((a_elecAngle_XA + 30)*(pi/180)); % Note: 30 deg shift is to allign it with the Hall sensors position r_cos_M1 = cos((a_elecAngle_XA + 30)*(pi/180)); % figure % stairs(a_elecAngle_XA, r_sin_M1); hold on % stairs(a_elecAngle_XA, r_cos_M1); % legend('sin','cos'); %% Control selection % Control type selection CTRL_COM = 0; % [-] Commutation Control CTRL_SIN = 1; % [-] Sinusoidal Control CTRL_FOC = 2; % [-] Field Oriented Control (FOC) z_ctrlTypSel = CTRL_FOC; % [-] Control Type Selection (default) % Control model request OPEN_MODE = 0; % [-] Open mode VLT_MODE = 1; % [-] Voltage mode SPD_MODE = 2; % [-] Speed mode TRQ_MODE = 3; % [-] Torque mode z_ctrlModReq = VLT_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 %% F01_Estimations % Position Estimation Parameters % Hall = 4*hA + 2*hB + hC % Hall = [0 1 2 3 4 5 6 7] vec_hallToPos = [0 2 0 1 4 3 5 0]; % [-] Mapping Hall signal to position % Speed Calculation Parameters cf_speedCoef = round(f_ctrl * a_mechAngle * (pi/180) * (30/pi)); % [-] Speed calculation coefficient (factors are due to conversions rpm <-> rad/s) z_maxCntRst = 2000; % [-] Maximum counter value for reset (works 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 = 40; % [-] Counter gradient High for transient behavior detection (used for speed estimation) dz_cntTrnsDetLo = 20; % [-] Counter gradient Low for steady state detection (used for speed estimation) n_stdStillDet = 3; % [rpm] Speed threshold for Stand still detection cf_currFilt = 0.12; % [%] Current filter coefficient [0, 1]. Lower values mean softer filter % Motor Angle Measurement (e.g. using an encoder) b_angleMeasEna = 0; % [-] Enable flag for external mechanical motor angle sensor: 0 = estimated (default), 1 = measured %% F02_Diagnostics b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default) t_errQual = 0.24 * f_ctrl/3; % [s] Error qualification time t_errDequal = 1.80 * f_ctrl/3; % [s] Error dequalification time r_errInpTgtThres = 600; % [-] Error input target threshold (for "Blocked motor" detection) %% F03_Control_Mode_Manager dV_openRate = 1000 / (f_ctrl/3);% [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate) %% 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 * i_sca; % [A] Field weakening maximum current % SIN method a_phaAdvMax = 25; % [deg] Maximum phase advance angle %% F05_Field_Oriented_Control z_selPhaCurMeasABC = 0; % [-] Select measured current phases: {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2 % Motor Limitations Calibratables cf_iqKiLimProt = 60 / (f_ctrl/3); % [-] Current limit protection integral gain (only used in VLT_MODE and SPD_MODE) cf_nKiLimProt = 20 / (f_ctrl/3); % [-] Speed limit protection integral gain (only used in VLT_MODE and TRQ_MODE) cf_KbLimProt = 1000 / (f_ctrl/3);% [-] Back calculation gain for integral anti-windup % Voltage Limitations V_margin = 100; % [-] Voltage margin to make sure that there is a sufficiently wide pulse for a good phase current measurement Vd_max = 1000 - V_margin; Vq_max_XA = 0:20:Vd_max; Vq_max_M1 = sqrt(Vd_max^2 - Vq_max_XA.^2); % Circle limitations look-up table % figure % stairs(Vq_max_XA, Vq_max_M1); legend('V_{max}'); % Speed limitations n_max = 1000; % [rpm] Maximum motor speed: [-1500, 1500] % Current Limitations i_max = 15; % [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 % figure % stairs(iq_maxSca_XA, iq_maxSca_M1); legend('i_{maxSca}'); %------------------------------- % Q axis control gains cf_iqKp = 0.3; % [-] P gain cf_iqKi = 100 / (f_ctrl/3); % [-] I gain % D axis control gains cf_idKp = 0.2; % [-] P gain cf_idKi = 60 / (f_ctrl/3); % [-] I gain % Speed control gains cf_nKp = 1.18; % [-] P gain cf_nKi = 20.4 / (f_ctrl/3);% [-] I gain %------------------------------- %% F06_Control_Type_Management % Commutation method z_commutMap_M1 = [-1 -1 0 1 1 0; % Phase A 1 0 -1 -1 0 1; % Phase B 0 1 1 0 -1 -1]; % Phase C [-] Commutation method map omega = a_elecAngle_XA*(pi/180); pha_adv = 30; % [deg] Phase advance to mach commands with the Hall position r_sinPhaA_M1 = -sin(omega + pha_adv*(pi/180)); r_sinPhaB_M1 = -sin(omega - 120*(pi/180) + pha_adv*(pi/180)); r_sinPhaC_M1 = -sin(omega + 120*(pi/180) + pha_adv*(pi/180)); % Sinusoidal 3rd harmonic method A = 1.15; % Sine amplitude (tunable to get the Saddle sin maximum to value 1000) sin3Arm = -0.224*sin(3*(omega + pha_adv*(pi/180))); % 3rd armonic r_sin3PhaA_M1 = sin3Arm + A*r_sinPhaA_M1; r_sin3PhaB_M1 = sin3Arm + A*r_sinPhaB_M1; r_sin3PhaC_M1 = sin3Arm + A*r_sinPhaC_M1; disp('---- BLDC_controller: Initialization OK ----'); %% Plot control methods show_fig = 0; if show_fig % Apply scaling sca_factor = 1000; % [-] scalling factor (to avoid truncation approximations on integer data type) r_sinPhaA_M1sca = sca_factor * r_sinPhaA_M1; r_sinPhaB_M1sca = sca_factor * r_sinPhaB_M1; r_sinPhaC_M1sca = sca_factor * r_sinPhaC_M1; r_sin3PhaA_M1sca = sca_factor * r_sin3PhaA_M1; r_sin3PhaB_M1sca = sca_factor * r_sin3PhaB_M1; r_sin3PhaC_M1sca = sca_factor * r_sin3PhaC_M1; % Commutation method a_commElecAngle_XA = [0 60 120 180 240 300 360]; % [deg] Electrical angle grid hall_A = [0 0 0 1 1 1 1] + 4; hall_B = [1 1 0 0 0 1 1] + 2; hall_C = [0 1 1 1 0 0 0]; % SVM (Space Vector Modulation) calculation SVM_vec = [r_sinPhaA_M1sca; r_sinPhaB_M1sca; r_sinPhaC_M1sca]; SVM_min = min(SVM_vec); SVM_max = max(SVM_vec); SVM_sum = SVM_min + SVM_max; SVM_vec = SVM_vec - 0.5*SVM_sum; SVM_vec = (2/sqrt(3))*SVM_vec; color = ['m' 'g' 'b']; lw = 1.5; figure s1 = subplot(231); hold on stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw); stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw); stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw); xticks(a_commElecAngle_XA); grid yticks(0:5); yticklabels({'0','1','0','1','0','1'}); title('Hall sensors'); legend('Phase A','Phase B','Phase C','Location','NorthEast'); s2 = subplot(232); hold on stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw); stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw); stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw); xticks(a_commElecAngle_XA); grid yticks(0:5); yticklabels({'0','1','0','1','0','1'}); title('Hall sensors'); legend('Phase A','Phase B','Phase C','Location','NorthEast'); s3 = subplot(233); hold on stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw); stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw); stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw); xticks(a_commElecAngle_XA); grid yticks(0:5); yticklabels({'0','1','0','1','0','1'}); title('Hall sensors'); legend('Phase A','Phase B','Phase C','Location','NorthEast'); s4 = subplot(234); hold on stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(1,:) z_commutMap_M1(1,1)] + 6000, color(1), 'Linewidth', lw); stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(2,:) z_commutMap_M1(2,1)] + 3000, color(2), 'Linewidth', lw); stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(3,:) z_commutMap_M1(3,1)], color(3), 'Linewidth', lw); xticks(a_commElecAngle_XA); yticks(-1000:1000:7000); yticklabels({'-1000','0','1000','-1000','0','1000','-1000','0','1000'}); ylim([-1000 7000]); grid title('Commutation method [0]'); xlabel('Electrical angle [deg]'); s5 = subplot(235); hold on plot(a_elecAngle_XA, r_sin3PhaA_M1sca, color(1), 'Linewidth', lw); plot(a_elecAngle_XA, r_sin3PhaB_M1sca, color(2), 'Linewidth', lw); plot(a_elecAngle_XA, r_sin3PhaC_M1sca, color(3), 'Linewidth', lw); xticks(a_commElecAngle_XA); ylim([-1000 1000]) grid title('SIN method [1]'); xlabel('Electrical angle [deg]'); s6 = subplot(236); hold on plot(a_elecAngle_XA, SVM_vec(1,:), color(1), 'Linewidth', lw); plot(a_elecAngle_XA, SVM_vec(2,:), color(2), 'Linewidth', lw); plot(a_elecAngle_XA, SVM_vec(3,:), color(3), 'Linewidth', lw); xticks(a_commElecAngle_XA); ylim([-1000 1000]) grid title('FOC method [2]'); xlabel('Electrical angle [deg]'); linkaxes([s1 s2 s3 s4 s5 s6],'x'); xlim([0 360]); end