%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % This file is part of the hoverboard-new-firmware-hack 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 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 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 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) %% Control Manager % Control type selection CTRL_COM = 0; % [-] Commutation Control CTRL_FOC = 1; % [-] Field Oriented Control (FOC) z_ctrlTypSel = 1; % [-] Control Type Selection % 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 = 1; % [-] Control Mode Request %% 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 = 0.02; % [%] Current filter coefficient [0, 1]. Lower values mean softer filter cf_speedFilt = 0.20; % [%] Speed filter coefficient [0, 1]. Lower values mean softer filter %% F02_Diagnostics b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled t_errQual = 0.8 * f_ctrl; % [s] Error qualification time t_errDequal = 2 * f_ctrl; % [s] Error dequalification time i_errThres = 40 * i_sca; % [A] Maximum current threshold for phase current error detection %% F04_Field_Oriented_Control b_FfwdEna = 1; % [-] Feedforward enable flag: 0 = Disabled, 1 = Enabled mot_Lq = 0; % [uH] Motor Q axis inductance mot_Ld = 0; % [uH] Motor D axis inductance mot_lambda = 0; % [mWb] Motor flux linkage b_selPhaABCurrMeas = 1; % [-] Measured phase currents selection: {iA,iB} = 1; {iB,iC} = 0 i_thresOutlier = 200; % [-] Threshold for outlier detection in the current measurement b_DCLinkCurrAvail = 0; % [-] Flag for DC Link current measurement availability dV_openRate = 1000 * Ts_ctrl; % [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate) % Field Weakening b_fieldWeakEna = 0; % [-] Field weakening enable parameter: 0 = disable (default), 1 = enable % id_fieldWeak_M1 = [ 0 0 0.25 0.5 1 2 3 4 4.5 4.8 5 5] * i_sca; % [-] Field weakening current map % n_fieldWeak_XA = [200 250 300 350 400 450 500 550 600 650 700 750]; % [rpm] Motor speed grid id_fieldWeak_M1 = [ 0 0 0.05 0.25 1 2 3 4 4.5 4.8 5 5] * i_sca; % [-] Field weakening current map n_fieldWeak_XA = [400 420 440 460 480 500 520 540 560 580 600 620]; % [rpm] Motor speed grid % figure % plot(n_fieldWeak_XA, id_fieldWeak_M1, '.-'); hold on % grid % Sine 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'); % 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}'); % Current Limitations iq_KpLimProt = 4; % [-] Current limit protection gain iq_KiLimProt = 3 * Ts_ctrl; % [-] Current limit protection integral gain (only used in SPEED_MODE) i_max = 15; % [A] Maximum allowed motor current (continuous) i_max = i_max * i_sca; iq_max_XA = 0:15:i_max; iq_max_M1 = sqrt(i_max^2 - iq_max_XA.^2); % Circle limitations look-up table % figure % stairs(iq_max_XA, iq_max_M1); legend('i_{max}'); % Speed limitations n_KpLimProt = 5; % [-] Speed limit protection gain n_max = 800; % [rpm] Maximum motor speed % PI control gains n_Kp = 1;%5; n_Ki = 10 * Ts_ctrl;%50 * Ts_ctrl; % Ts_ctrl embedded in Ki to avoid one multipilication in the controller n_Kb = 1000 * Ts_ctrl; iq_Kp = 0.5; iq_Ki = 100 * Ts_ctrl; iq_Kb = 1000 * Ts_ctrl; id_Kp = 0.5; id_Ki = 80 * Ts_ctrl; id_Kb = 1000 * Ts_ctrl; %% F05_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 % *********************************************************************************** disp('---- BLDC_controller: Initialization OK ----'); %% Plot control methods show_fig = 0; sca_factor = 1000; % [-] scalling factor (to avoid truncation approximations on integer data type) % Trapezoidal method a_trapElecAngle_XA = [0 60 120 180 240 300 360]; % [deg] Electrical angle grid r_trapPhaA_M1 = sca_factor*[ 1 1 1 -1 -1 -1 1]; r_trapPhaB_M1 = sca_factor*[-1 -1 1 1 1 -1 -1]; r_trapPhaC_M1 = sca_factor*[ 1 -1 -1 -1 1 1 1]; % Sinusoidal method a_sinElecAngle_XA = 0:10:360; omega = a_sinElecAngle_XA*(pi/180); pha_adv = 30; % [deg] Phase advance to mach commands with the Hall position r_sinPhaA_M1 = -sca_factor*sin(omega + pha_adv*(pi/180)); r_sinPhaB_M1 = -sca_factor*sin(omega - 120*(pi/180) + pha_adv*(pi/180)); r_sinPhaC_M1 = -sca_factor*sin(omega + 120*(pi/180) + pha_adv*(pi/180)); % SVM (Space Vector Modulation) calculation SVM_vec = [r_sinPhaA_M1; r_sinPhaB_M1; r_sinPhaC_M1]; 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; if show_fig 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]; color = ['m' 'g' 'b']; lw = 1.5; figure s1 = subplot(221); hold on stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw); stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw); stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw); xticks(a_trapElecAngle_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(222); hold on stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw); stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw); stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw); xticks(a_trapElecAngle_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(223); hold on stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(1,:) z_commutMap_M1(1,1)] + 6000, color(1), 'Linewidth', lw); stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(2,:) z_commutMap_M1(2,1)] + 3000, color(2), 'Linewidth', lw); stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(3,:) z_commutMap_M1(3,1)], color(3), 'Linewidth', lw); xticks(a_trapElecAngle_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]'); s4 = subplot(224); hold on plot(a_sinElecAngle_XA, SVM_vec(1,:), color(1), 'Linewidth', lw); plot(a_sinElecAngle_XA, SVM_vec(2,:), color(2), 'Linewidth', lw); plot(a_sinElecAngle_XA, SVM_vec(3,:), color(3), 'Linewidth', lw); xticks(a_trapElecAngle_XA); ylim([-1000 1000]) grid title('FOC method [1]'); xlabel('Electrical angle [deg]'); linkaxes([s1 s2 s3 s4],'x'); xlim([0 360]); end