Control.h File Reference

Useful routines for AC machines control. More...

#include "Utils.h"
#include "QDOperations.h"
#include "FilterAndRotations.h"
#include "DataStorage.h"

Go to the source code of this file.

Data Structures

struct  VHzConfiguration
 storing of V/Hz control More...
struct  CommandsData
 command configuration More...
struct  CommandGeneratorCfg
 command generator configuration More...
struct  CubicCommandsData
 For implementing Y=a*X^3+b*X^2+c*X+d;. More...

Defines

#define MAX_COMMANDS   10
#define RealizableReference(ref, meass, error, controlAction, maxControlAction, kp, ki)
#define RealizableReferenceQD(ref, meass, error, controlAction, maxControlAction, kp, ki)

Typedefs

typedef struct CommandsData commandsData
typedef struct CommandGeneratorCfg _commandGeneratorCfg
typedef struct CubicCommandsData _cubiccommandsData

Functions

void InitVHz (_iq vbus, _iq fmax, _iq ts)
static void VHz (_iq F, volatile _iq *vas, volatile _iq *vbs, volatile _iq *vcs)
static void HomopolarInjection (volatile _iq *vas, volatile _iq *vbs, volatile _iq *vcs)
static int RegisterCommand (_iq vbegin, _iq vend, _iq tUS, volatile _iq *command, commandsData **commandData, void(*CommandFcn)(struct CommandsData *command), void *extra)
static void StartCommands (void)
 Start all the commands. It sets the start bit and the initial value of the variable to vbegin.
static void StartCommand (struct CommandsData *command)
static void SetCommand (struct CommandsData *command, _iq vbegin, _iq vend)
static void ConfigureCommandGenerator (_iq schedPeriodUS, _iq error)
static void StartCommandGenerator (void)
static void UpdateCommands (void)
 Update commands by calling the CommandFcn set during the configuration process.
static void UpdateCommand (struct CommandsData *command)
static int IsValue (struct CommandsData *command, _iq value, _iq error)
static int IsFinalValue (struct CommandsData *command, _iq error)
static void RampCommandFcn (struct CommandsData *command)
static void SCommandFcn (struct CommandsData *command)
static void SConfigFcn (struct CommandsData *command, void *extra)
static void CubicCommandFcn (struct CommandsData *command)
static void CubicConfigFcn (struct CommandsData *command, void *extra, _iq derBegin, _iq derEnd)

Variables

struct VHzConfiguration vhzConf
_commandGeneratorCfg commandGeneratorCfg
commandsData commands [MAX_COMMANDS]

Detailed Description

Useful routines for AC machines control.

File Name : Control.h Project : TIMotorLIB TI Doc: na

Author:
Pablo Garcia (pgarcia@isa.uniovi.es) Islam ElSayed (islam@isa.uniovi.es)

This module includes routines related to control of AC machines, although is intended to be extended by any general control algorithms useful for control or power converters. Implemented algorithms are:

Definition in file Control.h.

Define Documentation

#define MAX_COMMANDS   10

Definition at line 42 of file Control.h.

#define RealizableReference ( ref,
meass,
error,
controlAction,
maxControlAction,
kp,
ki   ) 
Value:
{\
          if(_IQabs(controlAction[N])>= maxControlAction ){\
                    controlAction[N] = _IQmpy(maxControlAction,_IQ(SIGN(controlAction[N])));\
                    INV_PI_REG(error,controlAction,kp,ki);\
          }\
}

Realizable references for data variables. Control action is saturated to maxControlAction

Parameters:
ref pointer to actual controller reference
meass meassured variable
error pointer to actual controller input error
controlAction pointer to actual control action
maxControlAction maximum allowed control action
kp proportional gain of the controller
ki integral gain of the controller Realizable references for data variables. Control action is saturated to maxControlAction
ref pointer to actual controller reference
meass meassured variable
error pointer to actual controller input error
controlAction pointer to actual control action
maxControlAction maximum allowed control action
kp proportional gain of the controller
ki integral gain of the controller
Note:
This macro can not be implemted as a static inline function because compiler is not inlining it.
Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 565 of file Control.h.

#define RealizableReferenceQD ( ref,
meass,
error,
controlAction,
maxControlAction,
kp,
ki   ) 
Value:
{\
          if(MAG_QD_NDATA(controlAction,N)>= maxControlAction ){\
              MODARG2QD_NDATA(maxControlAction,PHASE_QD_NDATA(controlAction,N),controlAction,N); \
                    INV_PI_QD_REG(error,controlAction,kp,ki);\
          }\
}

Realizable references for dq variables. Control action vector is saturated to maxControlAction by saturating the magnitude and keeping the same phase.

Parameters:
ref pointer to actual controller reference
meass measured variable
error pointer to actual controller input error
controlAction pointer to actual control action
maxControlAction maximum allowed control action
kp proportional gain of the controller
ki integral gain of the controller Realizable references for dq variables. Control action vector is saturated to maxControlAction by saturating the magnitude and keeping the same phase (minimum phase distortion LIM).
ref pointer to actual controller reference
meass measured variable
error pointer to actual controller input error
controlAction pointer to actual control action
maxControlAction maximum allowed control action
kp proportional gain of the controller
ki integral gain of the controller
Note:
This macro can not be implemted as a static inline function because compiler is not inlining it.

Definition at line 619 of file Control.h.

Typedef Documentation

typedef struct CommandGeneratorCfg _commandGeneratorCfg
typedef struct CubicCommandsData _cubiccommandsData
typedef struct CommandsData commandsData

Function Documentation

static void ConfigureCommandGenerator ( _iq  schedPeriodUS,
_iq  error 
) [inline, static]

Configure command generator by reseting the ncommand variable and seting the period for the command evaluation

Parameters:
schedPeriodUS Period for command calculation in us.
error Maximum allowed command error
Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 319 of file Control.h.

static void CubicCommandFcn ( struct CommandsData *  command  )  [inline, static]

Implement cubic function Y=a*X^3+b*X^2+c*X+d; with given derivatives at begin and end.

Parameters:
command pointer to structure of type commandsData

Definition at line 470 of file Control.h.

static void CubicConfigFcn ( struct CommandsData *  command,
void *  extra,
_iq  derBegin,
_iq  derEnd 
) [inline, static]

calculate cubic function constants. d=y1; c=d1; a=(y2-y1-d1*x2-(d2*x2)/2+(d1*x2)/2)/(-0.5*x2^3); b=(d2-d1-3*a*x2^2)/(2*x2);

Parameters:
command pointer to structure of type commandsData
extra pointer to structure of type CubicCommandsData
derBegin at begin]
derEnd at end]

Definition at line 499 of file Control.h.

static void HomopolarInjection ( volatile _iq *  vas,
volatile _iq *  vbs,
volatile _iq *  vcs 
) [inline, static]

Hompolar harmonic injection: "Current and Flux Regulation in Field-Weakening Operation", Fernando Briz, Alberto Diez, Michael W. Degner, Robert D. Lorenz IEEE Trans.Ind. App., Vo, 37, N 1, Jan/Feb 2001

Parameters:
*vas,: pointer to phase a voltage
*vbs,: pointer to phase b voltage
*vcs,: pointer to phase c voltage
Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 207 of file Control.h.

void InitVHz ( _iq  vbus,
_iq  fmax,
_iq  ts 
)

Configure V/Hz control.

Parameters:
vbus,: bus voltage (V)
fmax,: max frequency (Hz)
ts,: sample time (s)

Definition at line 28 of file Control.c.

static int IsFinalValue ( struct CommandsData *  command,
_iq  error 
) [inline, static]

Indicate where a command has reached the final value within an error

Parameters:
command pointer to the registered command in the configuration structure
error distance to the final value
Returns:
1 if final value is reached, 0 otherwise

Definition at line 390 of file Control.h.

static int IsValue ( struct CommandsData *  command,
_iq  value,
_iq  error 
) [inline, static]

Indicate where a command has reached a value within an error

Parameters:
command pointer to the registered command in the configuration structure
value 
error distance to the final value
Returns:
1 if final value is reached, 0 otherwise

Definition at line 377 of file Control.h.

static void RampCommandFcn ( struct CommandsData *  command  )  [inline, static]

Generate ramp command

Parameters:
command pointer to command variable

command->command += _IQdiv(_IQmpy((command->vend-command->vbegin), commandGeneratorCfg.schedPeriodUS), command->tUS);

Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 401 of file Control.h.

static int RegisterCommand ( _iq  vbegin,
_iq  vend,
_iq  tUS,
volatile _iq *  command,
commandsData **  commandData,
void(*)(struct CommandsData *command)  CommandFcn,
void *  extra 
) [inline, static]

Register a new command.

Parameters:
vbegin Initial value for the command
vend Final value for the command
tUS Time constant for the trajectory
command Variable to be modified by the command trajectory
commandData pointer to the registered command in the configuration structure
CommandFcn Function pointer to the desired trajectory generator
extra (optional) parameters required for command execution

RETURNS:

Returns:
-1 if MAX_COMMANDS have been previously registered, 0 otherwise
Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 242 of file Control.h.

static void SCommandFcn ( struct CommandsData *  command  )  [inline, static]

Implement spline function Y=a*X^3+b*X^2+c*X+d; in case of the derivative at begin and end are equal to zero.

Parameters:
command pointer to structure of type commandsData
Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 417 of file Control.h.

static void SConfigFcn ( struct CommandsData *  command,
void *  extra 
) [inline, static]

calculate spline function constants in the case of derivatives at begin and end are equal to zero. d=y1; c=d1=0; a=(y2-y1)/(-0.5*x2^3); b=(-3*a*x2)/2;

Parameters:
command pointer to structure of type commandsData
extra pointer to structure of type CubicCommandsData

Definition at line 446 of file Control.h.

static void SetCommand ( struct CommandsData *  command,
_iq  vbegin,
_iq  vend 
) [inline, static]

Restarts a command. It sets the start bit and the initial value of the variable to vbegin

Parameters:
command pointer to the registered command in the configuration structure
vbegin initial value
vend final value

Definition at line 300 of file Control.h.

static void StartCommand ( struct CommandsData *  command  )  [inline, static]

Start a command. It sets the start bit and the initial value of the variable to vbegin

Parameters:
command pointer to the registered command in the configuration structure
Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 286 of file Control.h.

static void StartCommandGenerator ( void   )  [inline, static]

Start command generator by modifying the ISR of the selected timer

Deprecated:

Definition at line 332 of file Control.h.

static void StartCommands ( void   )  [inline, static]

Start all the commands. It sets the start bit and the initial value of the variable to vbegin.

Definition at line 271 of file Control.h.

static void UpdateCommand ( struct CommandsData *  command  )  [inline, static]

Update command by calling the CommandFcn set during the configuration process

Parameters:
command pointer to the registered command in the configuration structure
Examples:
TIMotorLIBExampleSw/main.c.

Definition at line 355 of file Control.h.

static void UpdateCommands ( void   )  [inline, static]

Update commands by calling the CommandFcn set during the configuration process.

Definition at line 341 of file Control.h.

static void VHz ( _iq  F,
volatile _iq *  vas,
volatile _iq *  vbs,
volatile _iq *  vcs 
) [inline, static]

V/Hz control

Parameters:
F,: frequency (Hz)
vas,: phase a voltage (V)
vbs,: phase b voltage (V)
vcs,: phase c voltage (V)
Examples:
TIMotorLIBExample2/main.c, and TIMotorLIBExampleSw/main.c.

Definition at line 185 of file Control.h.

Variable Documentation

_commandGeneratorCfg commandGeneratorCfg

Definition at line 25 of file Control.c.

commandsData commands[MAX_COMMANDS]

Definition at line 26 of file Control.c.

struct VHzConfiguration vhzConf

Definition at line 24 of file Control.c.

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