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Add current and voltage feed forward terms to motor classes #454

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25 changes: 12 additions & 13 deletions src/BLDCMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -355,23 +355,23 @@ void BLDCMotor::loopFOC() {
// read overall current magnitude
current.q = current_sense->getDCCurrent(electrical_angle);
// filter the value values
current.q = LPF_current_q(current.q);
current.q = LPF_current_q(current.q) + feed_forward_current.q;
// calculate the phase voltage
voltage.q = PID_current_q(current_sp - current.q);
voltage.q = PID_current_q(current_sp - current.q)+feed_forward_voltage.q;
// d voltage - lag compensation
if(_isset(phase_inductance)) voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
else voltage.d = 0;
if(_isset(phase_inductance)) voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance+feed_forward_voltage.d, -voltage_limit, voltage_limit);
else voltage.d = feed_forward_voltage.d;
break;
case TorqueControlType::foc_current:
if(!current_sense) return;
// read dq currents
current = current_sense->getFOCCurrents(electrical_angle);
// filter values
current.q = LPF_current_q(current.q);
current.d = LPF_current_d(current.d);
current.q = LPF_current_q(current.q) + feed_forward_current.q;
current.d = LPF_current_d(current.d) + feed_forward_current.d;
// calculate the phase voltages
voltage.q = PID_current_q(current_sp - current.q);
voltage.d = PID_current_d(-current.d);
voltage.q = PID_current_q(current_sp - current.q)+feed_forward_voltage.q;
voltage.d = PID_current_d(-current.d)+feed_forward_voltage.d;
// d voltage - lag compensation - TODO verify
// if(_isset(phase_inductance)) voltage.d = _constrain( voltage.d - current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
break;
Expand All @@ -380,7 +380,6 @@ void BLDCMotor::loopFOC() {
SIMPLEFOC_DEBUG("MOT: no torque control selected!");
break;
}

// set the phase voltage - FOC heart function :)
setPhaseVoltage(voltage.q, voltage.d, electrical_angle);
}
Expand Down Expand Up @@ -447,10 +446,10 @@ void BLDCMotor::move(float new_target) {
if(torque_controller == TorqueControlType::voltage){
// use voltage if phase-resistance not provided
if(!_isset(phase_resistance)) voltage.q = current_sp;
else voltage.q = _constrain( current_sp*phase_resistance + voltage_bemf , -voltage_limit, voltage_limit);
else voltage.q = _constrain( (current_sp+feed_forward_current.q)*phase_resistance + voltage_bemf, -voltage_limit, voltage_limit);
// set d-component (lag compensation if known inductance)
if(!_isset(phase_inductance)) voltage.d = 0;
else voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
else voltage.d = _constrain( -(current_sp+feed_forward_current.d)*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
}
break;
case MotionControlType::velocity:
Expand All @@ -462,10 +461,10 @@ void BLDCMotor::move(float new_target) {
if(torque_controller == TorqueControlType::voltage){
// use voltage if phase-resistance not provided
if(!_isset(phase_resistance)) voltage.q = current_sp;
else voltage.q = _constrain( current_sp*phase_resistance + voltage_bemf , -voltage_limit, voltage_limit);
else voltage.q = _constrain( (current_sp+feed_forward_current.q)*phase_resistance + voltage_bemf, -voltage_limit, voltage_limit);
// set d-component (lag compensation if known inductance)
if(!_isset(phase_inductance)) voltage.d = 0;
else voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
else voltage.d = _constrain( -(current_sp+feed_forward_current.d)*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
}
break;
case MotionControlType::velocity_openloop:
Expand Down
14 changes: 7 additions & 7 deletions src/StepperMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -315,23 +315,23 @@ void StepperMotor::loopFOC() {
// read overall current magnitude
current.q = current_sense->getDCCurrent(electrical_angle);
// filter the value values
current.q = LPF_current_q(current.q);
current.q = LPF_current_q(current.q) + feed_forward_current.q;
// calculate the phase voltage
voltage.q = PID_current_q(current_sp - current.q);
// d voltage - lag compensation
if(_isset(phase_inductance)) voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
else voltage.d = 0;
if(_isset(phase_inductance)) voltage.d = _constrain( -(current_sp+feed_forward_current.q)*shaft_velocity*pole_pairs*phase_inductance+feed_forward_voltage.d, -voltage_limit, voltage_limit);
else voltage.d = feed_forward_voltage.d;
break;
case TorqueControlType::foc_current:
if(!current_sense) return;
// read dq currents
current = current_sense->getFOCCurrents(electrical_angle);
// filter values
current.q = LPF_current_q(current.q);
current.d = LPF_current_d(current.d);
current.q = LPF_current_q(current.q)+feed_forward_current.q;
current.d = LPF_current_d(current.d)+feed_forward_current.d;
// calculate the phase voltages
voltage.q = PID_current_q(current_sp - current.q);
voltage.d = PID_current_d(-current.d);
voltage.q = PID_current_q(current_sp - current.q)+feed_forward_voltage.q;
voltage.d = PID_current_d(-current.d)+feed_forward_voltage.d;
// d voltage - lag compensation - TODO verify
// if(_isset(phase_inductance)) voltage.d = _constrain( voltage.d - current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
break;
Expand Down
2 changes: 2 additions & 0 deletions src/common/base_classes/FOCMotor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -172,6 +172,8 @@ class FOCMotor
float voltage_bemf; //!< estimated backemf voltage (if provided KV constant)
float Ualpha, Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform

DQCurrent_s feed_forward_current;//!< current d and q current measured
DQVoltage_s feed_forward_voltage;//!< current d and q voltage set to the motor

// motor configuration parameters
float voltage_sensor_align;//!< sensor and motor align voltage parameter
Expand Down