closeLoop.h File Reference

Detailed Description

closeLoop Module

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Overview

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#include <ti/iqmath/include/IQmathLib.h>
#include "IQmath_mathacl.h"
#include "pi.h"
#include "stdint.h"
#include "idReferencing.h"
#include "mcLib.h"
#include "iqNum.h"
#include "measure.h"
#include "main.h"

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Data Structures
union	CLOSE_LOOP_FLAGS_T
	Close Loop Flags. More...
struct	CLOSE_LOOP_FLAGS_T::closeLoopFlags
	Close Loop Flags Structure. More...
struct	CLOSE_LOOP_T
	Closed Loop Working variables. More...

Macros
#define	SPEED_ERROR_THRESHOLD_PU   0.05
	Speed Error Thresold.
#define	SPEED_CMD_THRESHOLD   _IQ(0.04)
	Speed command Threshold.
#define	TRANSITION_SIN_ANGLE_ALIGN_THRESHOLD   _IQ(0.08715574275)
	Transition Parameter.

Enumerations
enum	COMMUTATION_STATE_TYPES {   COMMUTATION_UNALIGNED = 0,   COMMUTATION_ALIGNED = 1 }
	Commutation States. More...
enum	SPEED_CHANGE_STATE_TYPES {   CLOSE_LOOP_UNDEFINED_STATE = 0,   CLOSE_LOOP_STEADY_STATE = 1,   CLOSE_LOOP_ACCELERATE = 2,   CLOSE_LOOP_DECELERATE = 3 }
	Transition States. More...
enum	APP_CONTROL_TYPES {   CONTROL_SPEED = 0,   CONTROL_POWER = 1,   CONTROL_TORQUE = 2,   CONTROL_VOLTAGE = 3 }
	Control types. More...

Functions
void	closeLoopInit (CLOSE_LOOP_T *pCloseLoop)
	Close Loop Init. More...
void	closeLoopRun (CLOSE_LOOP_T *pCloseLoop)
	Close Loop Run. More...
void	closeLoopLowPriorityRun (CLOSE_LOOP_T *pCloseLoop)
	Close Loop Low Priority run. More...
_Bool	getCloseLoopAlignedStatus (CLOSE_LOOP_T *pCloseLoop)
	get Closed loop align status More...
_Bool	getAvsStatus (CLOSE_LOOP_T *pCloseLoop)
	get AVS Status More...

Enumeration Type Documentation

COMMUTATION_STATE_TYPES

enum COMMUTATION_STATE_TYPES

Commutation States.

Enumerator
COMMUTATION_UNALIGNED	Commutation not aligned to estimator
COMMUTATION_ALIGNED	Commutation aligned to estimator

SPEED_CHANGE_STATE_TYPES

enum SPEED_CHANGE_STATE_TYPES

Transition States.

Enumerator
CLOSE_LOOP_UNDEFINED_STATE	Speed reference: undefined
CLOSE_LOOP_STEADY_STATE	Speed reference reached steady state
CLOSE_LOOP_ACCELERATE	Speed reference: accelerate
CLOSE_LOOP_DECELERATE	Speed reference: decelerate

APP_CONTROL_TYPES

enum APP_CONTROL_TYPES

Control types.

Enumerator
CONTROL_SPEED	Speed Control
CONTROL_POWER	Power Control
CONTROL_TORQUE	Torque Control
CONTROL_VOLTAGE	Voltage Control

Function Documentation

closeLoopInit()

void closeLoopInit

(

CLOSE_LOOP_T *

pCloseLoop

)

Close Loop Init.

Parameters

[in]

*pCloseLoop

Input Pointer

References CLOSE_LOOP_T::accelSpeedRefSlewRate, CLOSE_LOOP_T::angleOffset, COMMUTATION_UNALIGNED, CLOSE_LOOP_T::commutationState, CLOSE_LOOP_T::currentReferenceSqrMax, CLOSE_LOOP_T::currentReferenceSqrMaxSet, CLOSE_LOOP_T::decelSpeedRefSlewRate, ID_REF_T::idRef, CLOSE_LOOP_T::idRefGen, idRefInit(), piInit(), CLOSE_LOOP_T::piSpeed, CLOSE_LOOP_T::PowerFeedback, CLOSE_LOOP_T::PowerReference, CLOSE_LOOP_T::slowAccelSpeedRefSlewRate, CLOSE_LOOP_T::slowDecelSpeedRefSlewRate, CLOSE_LOOP_T::sourceCurrentFeedback, and CLOSE_LOOP_T::velocityReference.

Referenced by focInit(), and focRun().

closeLoopRun()

void closeLoopRun

(

CLOSE_LOOP_T *

pCloseLoop

)

Close Loop Run.

Parameters

[in]

*pCloseLoop

Input Pointer

References _IQmpy_mathacl, MC_ABC_T::a, CLOSE_LOOP_T::accelSpeedRefSlewRate, CLOSE_LOOP_T::angle, CLOSE_LOOP_T::angleAlignStep, CLOSE_LOOP_T::angleOffset, CLOSE_LOOP_FLAGS_T::closeLoopFlags::avsEnable, CLOSE_LOOP_FLAGS_T::b, MC_ABC_T::b, MC_ABC_T::c, COMMUTATION_ALIGNED, COMMUTATION_UNALIGNED, CLOSE_LOOP_T::commutationState, CONTROL_POWER, CONTROL_SPEED, CLOSE_LOOP_T::controlMode, MC_DQ_T::d, CLOSE_LOOP_T::decelSpeedRefSlewRate, CLOSE_LOOP_T::fastAccelSpeedRefSlewRate, CLOSE_LOOP_T::fastDecelSpeedRefSlewRate, CLOSE_LOOP_T::flags, CLOSE_LOOP_T::idqRef, ID_REF_T::idRef, CLOSE_LOOP_T::idRefGen, CLOSE_LOOP_T::iqRefMax, PI_T::out, PI_T::outMax, PI_T::outMin, CLOSE_LOOP_T::pDabc, CLOSE_LOOP_T::pFluxAngle, CLOSE_LOOP_T::pIabc, piRun(), CLOSE_LOOP_T::piSpeed, CLOSE_LOOP_T::pVelocity, MC_DQ_T::q, sine(), slewRate(), CLOSE_LOOP_T::sourceCurrentFeedback, and TRANSITION_SIN_ANGLE_ALIGN_THRESHOLD.

Referenced by focRun().

closeLoopLowPriorityRun()

void closeLoopLowPriorityRun

(

CLOSE_LOOP_T *

pCloseLoop

)

Close Loop Low Priority run.

Parameters

[in]

*pCloseLoop

Input Pointer

References MC_ABC_T::a, CLOSE_LOOP_T::accelSpeedRefSlewRate, CLOSE_LOOP_FLAGS_T::closeLoopFlags::avsEnable, CLOSE_LOOP_FLAGS_T::b, MC_ABC_T::b, MC_ABC_T::c, CLOSE_LOOP_ACCELERATE, CLOSE_LOOP_DECELERATE, CLOSE_LOOP_STEADY_STATE, COMMUTATION_ALIGNED, COMMUTATION_UNALIGNED, CLOSE_LOOP_T::commutationState, CONTROL_SPEED, CLOSE_LOOP_T::controlMode, CLOSE_LOOP_T::currentReferenceSqrMax, MC_DQ_T::d, CLOSE_LOOP_T::decelSpeedRefSlewRate, CLOSE_LOOP_T::fastAccelSpeedRefSlewRate, CLOSE_LOOP_T::fastDecelSpeedRefSlewRate, CLOSE_LOOP_T::flags, CLOSE_LOOP_T::idqRef, CLOSE_LOOP_T::idRefGen, idRefLowPriorityRun(), CLOSE_LOOP_T::iqRefMax, CLOSE_LOOP_T::modIndexSqr, CLOSE_LOOP_T::pMabc, CLOSE_LOOP_T::pSpeed, CLOSE_LOOP_T::pTargetVelocity, CLOSE_LOOP_T::pVelocity, slewRate(), CLOSE_LOOP_T::slowAccelSpeedRefSlewRate, CLOSE_LOOP_T::slowDecelSpeedRefSlewRate, SPEED_CMD_THRESHOLD, CLOSE_LOOP_T::speedChangeState, CLOSE_LOOP_T::speedReference, CLOSE_LOOP_T::targetSpeedLimited, CLOSE_LOOP_T::targetVelocityLimited, TWO_BY_THREE, CLOSE_LOOP_T::velocityReference, CLOSE_LOOP_T::velocityReferenceMax, and CLOSE_LOOP_T::velocityReferenceMin.

Referenced by focLowPriorityRun().

getCloseLoopAlignedStatus()

_Bool getCloseLoopAlignedStatus ( CLOSE_LOOP_T *  pCloseLoop )

inline

get Closed loop align status

Parameters

[in]

*pCloseLoop

Pointer

Returns

Returns the status

References COMMUTATION_ALIGNED, and CLOSE_LOOP_T::commutationState.

Referenced by focLowPriorityRun().

getAvsStatus()

_Bool getAvsStatus ( CLOSE_LOOP_T *  pCloseLoop )

inline

get AVS Status

Parameters

[in]

*pCloseLoop

Returns

Returns the status

References CLOSE_LOOP_FLAGS_T::closeLoopFlags::avsEnable, CLOSE_LOOP_FLAGS_T::b, CLOSE_LOOP_T::flags, CLOSE_LOOP_T::idqRef, CLOSE_LOOP_T::pSpeed, MC_DQ_T::q, SPEED_ERROR_THRESHOLD_PU, and CLOSE_LOOP_T::targetSpeedLimited.

Referenced by focRun().