mcpwm_foc_svpwm_open_loop sample
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Outline
#include "esp_foc.h"
foc_clarke_transform(const foc_uvw_coord_t *, foc_ab_coord_t *)
foc_inverse_clarke_transform(const foc_ab_coord_t *, foc_uvw_coord_t *)
foc_park_transform(_iq, const foc_ab_coord_t *, foc_dq_coord_t *)
foc_inverse_park_transform(_iq, const foc_dq_coord_t *, foc_ab_coord_t *)
foc_svpwm_duty_calculate(const foc_ab_coord_t *, foc_uvw_coord_t *)
Files
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SourceVuESP-IDF Framework and Examplesmcpwm_foc_svpwm_open_loop samplemain/foc/esp_foc.c
 
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/* * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 *//* ... */ #include "esp_foc.h" /** * alpha = u - (v + w)sin(30) * (2/3), (2/3): Equal amplitude transformation const * beta = (v - w)cos(30) * (2/3) *//* ... */ void foc_clarke_transform(const foc_uvw_coord_t *v_uvw, foc_ab_coord_t *v_ab) { const _iq foc_clark_k1_iq = _IQ(2.0 / 3.0); const _iq foc_clark_k2_iq = _IQ(1.0 / 3.0); const _iq foc_clark_k3_iq = _IQ(M_SQRT3 / 3.0); v_ab->alpha = _IQmpy(v_uvw->u, foc_clark_k1_iq) - _IQmpy(v_uvw->v + v_uvw->w, foc_clark_k2_iq); v_ab->beta = _IQmpy(v_uvw->v - v_uvw->w, foc_clark_k3_iq); }{ ... } void foc_inverse_clarke_transform(const foc_ab_coord_t *v_ab, foc_uvw_coord_t *v_uvw) { v_uvw->u = v_ab->alpha; v_uvw->v = _IQdiv2(_IQmpy(v_ab->beta, _IQ(M_SQRT3)) - v_ab->alpha); v_uvw->w = -v_uvw->u - v_uvw->v; }{ ... } void foc_park_transform(_iq theta_rad, const foc_ab_coord_t *v_ab, foc_dq_coord_t *v_dq) { _iq sin = _IQsin(theta_rad); _iq cos = _IQcos(theta_rad); v_dq->d = _IQmpy(v_ab->alpha, cos) + _IQmpy(v_ab->beta, sin); v_dq->q = _IQmpy(v_ab->beta, cos) - _IQmpy(v_ab->alpha, sin); }{ ... } void foc_inverse_park_transform(_iq theta_rad, const foc_dq_coord_t *v_dq, foc_ab_coord_t *v_ab) { _iq sin = _IQsin(theta_rad); _iq cos = _IQcos(theta_rad); v_ab->alpha = _IQmpy(v_dq->d, cos) - _IQmpy(v_dq->q, sin); v_ab->beta = _IQmpy(v_dq->q, cos) + _IQmpy(v_dq->d, sin); }{ ... } void foc_svpwm_duty_calculate(const foc_ab_coord_t *v_ab, foc_uvw_coord_t *out_uvw) { int sextant; if (v_ab->beta > 0.0f) { if (v_ab->alpha > 0.0f) { //quadrant I if (v_ab->beta > _IQmpy(v_ab->alpha, _IQ(M_SQRT3))) { sextant = 2; //sextant v2-v3 }{...} else { sextant = 1; //sextant v1-v2 }{...} }{...} else { //quadrant II if (-v_ab->beta > _IQmpy(v_ab->alpha, _IQ(M_SQRT3))) { sextant = 3; //sextant v3-v4 }{...} else { sextant = 2; //sextant v2-v3 }{...} }{...} }{...} else { if (v_ab->alpha > 0.0f) { //quadrant IV if (-v_ab->beta > _IQmpy(v_ab->alpha, _IQ(M_SQRT3))) { sextant = 5; //sextant v5-v6 }{...} else { sextant = 6; //sextant v6-v1 }{...} }{...} else { //quadrant III if (v_ab->beta > _IQmpy(v_ab->alpha, _IQ(M_SQRT3))) { sextant = 4; //sextant v4-v5 }{...} else { sextant = 5; //sextant v5-v6 }{...} }{...} }{...} switch (sextant) { // sextant v1-v2 case 1: { _iq t1 = -_IQmpy(v_ab->alpha, _IQ(M_SQRT3)) + v_ab->beta; _iq t2 = -_IQmpy2(v_ab->beta); // PWM timings out_uvw->u = _IQdiv2(_IQ(1.F) - t1 - t2); out_uvw->v = out_uvw->u + t1; out_uvw->w = out_uvw->v + t2; }{...} break; // sextant v2-v3... case 2: { _iq t2 = -_IQmpy(v_ab->alpha, _IQ(M_SQRT3)) - v_ab->beta; _iq t3 = _IQmpy(v_ab->alpha, _IQ(M_SQRT3)) - v_ab->beta; // PWM timings out_uvw->v = _IQdiv2(_IQ(1.F) - t2 - t3); out_uvw->u = out_uvw->v + t3; out_uvw->w = out_uvw->u + t2; }{...} break; // sextant v3-v4... case 3: { _iq t3 = -_IQmpy2(v_ab->beta); _iq t4 = _IQmpy(v_ab->alpha, _IQ(M_SQRT3)) + v_ab->beta; // PWM timings out_uvw->v = _IQdiv2(_IQ(1.F) - t3 - t4); out_uvw->w = out_uvw->v + t3; out_uvw->u = out_uvw->w + t4; }{...} break; // sextant v4-v5... case 4: { _iq t4 = _IQmpy(v_ab->alpha, _IQ(M_SQRT3)) - v_ab->beta; _iq t5 = _IQmpy2(v_ab->beta); // PWM timings out_uvw->w = _IQdiv2(_IQ(1.F) - t4 - t5); out_uvw->v = out_uvw->w + t5; out_uvw->u = out_uvw->v + t4; }{...} break; // sextant v5-v6... case 5: { _iq t5 = _IQmpy(v_ab->alpha, _IQ(M_SQRT3)) + v_ab->beta; _iq t6 = -_IQmpy(v_ab->alpha, _IQ(M_SQRT3)) + v_ab->beta; // PWM timings out_uvw->w = _IQdiv2(_IQ(1.F) - t5 - t6); out_uvw->u = out_uvw->w + t5; out_uvw->v = out_uvw->u + t6; }{...} break; // sextant v6-v1... case 6: { _iq t6 = _IQmpy2(v_ab->beta); _iq t1 = -_IQmpy(v_ab->alpha, _IQ(M_SQRT3)) - v_ab->beta; // PWM timings out_uvw->u = _IQdiv2(_IQ(1.F) - t6 - t1); out_uvw->w = out_uvw->u + t1; out_uvw->v = out_uvw->w + t6; }{...} break;... }{...} }{ ... }
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