#ifndef _USER_H_ #define _USER_H_ /* --COPYRIGHT--,BSD * Copyright (c) 2012, Texas Instruments Incorporated * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * * Neither the name of Texas Instruments Incorporated nor the names of * its contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * --/COPYRIGHT--*/ //! \file solutions/instaspin_motion/boards/boostxldrv8301_revB/f28x/f2806xM/src/user.h //! \brief Contains the public interface for user initialization data for the CTRL, HAL, and EST modules //! //! (C) Copyright 2012, Texas Instruments, Inc. // ************************************************************************** // the includes // modules #include "sw/modules/types/src/types.h" #include "sw/modules/motor/src/32b/motor.h" #include "sw/modules/est/src/32b/est.h" #include "sw/modules/est/src/est_states.h" #include "sw/modules/est/src/est_Flux_states.h" #include "sw/modules/est/src/est_Ls_states.h" #include "sw/modules/est/src/est_Rs_states.h" #include "sw/modules/ctrl/src/32b/ctrl_obj.h" // select whether to use the inverter on connector J1 or J5 of the LaunchPad #define J5 // platforms #include "sw/modules/fast/src/32b/userParams.h" #ifdef J5 #include "user_j5.h" #else #include "user_j1.h" #endif //! //! //! \defgroup USER USER //! //@{ #ifdef __cplusplus extern "C" { #endif // ************************************************************************** // the defines //! \brief CURRENTS AND VOLTAGES // ************************************************************************** //! \brief Defines the voltage scale factor for the system //! \brief Compile time calculation for scale factor (ratio) used throughout the system #define USER_VOLTAGE_SF ((float_t)((USER_ADC_FULL_SCALE_VOLTAGE_V)/(USER_IQ_FULL_SCALE_VOLTAGE_V))) //! \brief Defines the current scale factor for the system //! \brief Compile time calculation for scale factor (ratio) used throughout the system #define USER_CURRENT_SF ((float_t)((USER_ADC_FULL_SCALE_CURRENT_A)/(USER_IQ_FULL_SCALE_CURRENT_A))) //! \brief CLOCKS & TIMERS // ************************************************************************** //! \brief Defines the system clock frequency, MHz #define USER_SYSTEM_FREQ_MHz (90.0) //! \brief Defines the address of controller handle //! #define USER_CTRL_HANDLE_ADDRESS (0x13C40) #define USER_CTRL_HANDLE_ADDRESS_1 (0x13D36) //! \brief Defines the address of estimator handle //! #define USER_EST_HANDLE_ADDRESS (0x13840) #define USER_EST_HANDLE_ADDRESS_1 (0x13A3E) //! \brief Defines the direct voltage (Vd) scale factor //! #define USER_VD_SF (0.95) //! \brief Defines the Pulse Width Modulation (PWM) period, usec //! \brief Compile time calculation #define USER_PWM_PERIOD_usec (1000.0/USER_PWM_FREQ_kHz) //! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz //! 30 1 #define USER_ISR_FREQ_Hz ((float_t)USER_PWM_FREQ_kHz * 1000.0 / (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK) //! \brief Defines the Interrupt Service Routine (ISR) period, usec //! #define USER_ISR_PERIOD_usec (USER_PWM_PERIOD_usec * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK) //! \brief DECIMATION // ************************************************************************** //! \brief Defines the controller frequency, Hz //! \brief Compile time calculation #define USER_CTRL_FREQ_Hz (uint_least32_t)(USER_ISR_FREQ_Hz/USER_NUM_ISR_TICKS_PER_CTRL_TICK) //! \brief Defines the estimator frequency, Hz //! \brief Compile time calculation #define USER_EST_FREQ_Hz (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_EST_TICK) //! \brief Defines the trajectory frequency, Hz //! \brief Compile time calculation #define USER_TRAJ_FREQ_Hz (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_TRAJ_TICK) //! \brief Defines the controller execution period, usec //! \brief Compile time calculation #define USER_CTRL_PERIOD_usec (USER_ISR_PERIOD_usec * USER_NUM_ISR_TICKS_PER_CTRL_TICK) //! \brief Defines the controller execution period, sec //! \brief Compile time calculation #define USER_CTRL_PERIOD_sec ((float_t)USER_CTRL_PERIOD_usec/(float_t)1000000.0) //! \brief LIMITS // ************************************************************************** //! \brief Defines the maximum current slope for Id trajectory during PowerWarp //! \brief For Induction motors only, controls how fast Id input can change under PowerWarp control #define USER_MAX_CURRENT_SLOPE_POWERWARP (0.3*USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz) // 0.3*RES_EST_CURRENT / IQ_FULL_SCALE_CURRENT / TRAJ_FREQ Typical to produce 1-sec rampup/down //! \brief Defines the starting maximum acceleration AND deceleration for the speed profiles, Hz/s //! \brief Updated in run-time through user functions //! \brief Inverter, motor, inertia, and load will limit actual acceleration capability #define USER_MAX_ACCEL_Hzps (20.0) // 20.0 Default //! \brief Defines maximum acceleration for the estimation speed profiles, Hz/s //! \brief Only used during Motor ID (commission) #define USER_MAX_ACCEL_EST_Hzps (5.0) // 5.0 Default, don't change //! \brief Defines the maximum current slope for Id trajectory during estimation #define USER_MAX_CURRENT_SLOPE (USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz) // USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz Default, don't change //! \brief Defines the fraction of IdRated to use during rated flux estimation //! #define USER_IDRATED_FRACTION_FOR_RATED_FLUX (1.0) // 1.0 Default, don't change //! \brief Defines the fraction of IdRated to use during inductance estimation //! #define USER_IDRATED_FRACTION_FOR_L_IDENT (1.0) // 1.0 Default, don't change //! \brief Defines the IdRated delta to use during estimation //! #define USER_IDRATED_DELTA (0.00002) //! \brief Defines the fraction of SpeedMax to use during inductance estimation //! #define USER_SPEEDMAX_FRACTION_FOR_L_IDENT (1.0) // 1.0 Default, don't change //! \brief Defines flux fraction to use during inductance identification //! #define USER_FLUX_FRACTION (1.0) // 1.0 Default, don't change //! \brief Defines the PowerWarp gain for computing Id reference //! \brief Induction motors only #define USER_POWERWARP_GAIN (1.0) // 1.0 Default, don't change //! \brief POLES // ************************************************************************** //! \brief Defines the analog voltage filter pole location, rad/s //! \brief Compile time calculation from Hz to rad/s #define USER_VOLTAGE_FILTER_POLE_rps (2.0 * MATH_PI * USER_VOLTAGE_FILTER_POLE_Hz) //! \brief Defines the software pole location for the voltage and current offset estimation, rad/s //! \brief Should not be changed from default of (20.0) #define USER_OFFSET_POLE_rps (20.0) // 20.0 Default, do not change //! \brief Defines the software pole location for the flux estimation, rad/s //! \brief Should not be changed from default of (100.0) #define USER_FLUX_POLE_rps (100.0) // 100.0 Default, do not change //! \brief Defines the software pole location for the direction filter, rad/s #define USER_DIRECTION_POLE_rps (6.0) // 6.0 Default, do not change //! \brief Defines the software pole location for the speed control filter, rad/s #define USER_SPEED_POLE_rps (100.0) // 100.0 Default, do not change //! \brief Defines the software pole location for the DC bus filter, rad/s #define USER_DCBUS_POLE_rps (100.0) // 100.0 Default, do not change //! \brief Defines the convergence factor for the estimator //! \brief Do not change from default for FAST #define USER_EST_KAPPAQ (1.5) // 1.5 Default, do not change // ************************************************************************** // end the defines //! \brief USER MOTOR & ID SETTINGS // ************************************************************************** // this section defined in user_j1.h or user_j5.h #ifndef USER_MOTOR #error Motor is not defined in user.h #endif #ifndef USER_MOTOR_TYPE #error The motor type is not defined in user.h #endif #ifndef USER_MOTOR_NUM_POLE_PAIRS #error Number of motor pole pairs is not defined in user.h #endif #ifndef USER_MOTOR_Rr #error The rotor resistance is not defined in user.h #endif #ifndef USER_MOTOR_Rs #error The stator resistance is not defined in user.h #endif #ifndef USER_MOTOR_Ls_d #error The direct stator inductance is not defined in user.h #endif #ifndef USER_MOTOR_Ls_q #error The quadrature stator inductance is not defined in user.h #endif #ifndef USER_MOTOR_RATED_FLUX #error The rated flux of motor is not defined in user.h #endif #ifndef USER_MOTOR_MAGNETIZING_CURRENT #error The magnetizing current is not defined in user.h #endif #ifndef USER_MOTOR_RES_EST_CURRENT #error The resistance estimation current is not defined in user.h #endif #ifndef USER_MOTOR_IND_EST_CURRENT #error The inductance estimation current is not defined in user.h #endif #ifndef USER_MOTOR_MAX_CURRENT #error The maximum current is not defined in user.h #endif #ifndef USER_MOTOR_FLUX_EST_FREQ_Hz #error The flux estimation frequency is not defined in user.h #endif // ************************************************************************** // the functions //! \brief Sets the user parameter values //! \param[in] pUserParams The pointer to the user param structure extern void USER_setParams(USER_Params *pUserParams); //! \brief Checks for errors in the user parameter values //! \param[in] pUserParams The pointer to the user param structure extern void USER_checkForErrors(USER_Params *pUserParams); //! \brief Gets the error code in the user parameters //! \param[in] pUserParams The pointer to the user param structure //! \return The error code extern USER_ErrorCode_e USER_getErrorCode(USER_Params *pUserParams); //! \brief Sets the error code in the user parameters //! \param[in] pUserParams The pointer to the user param structure //! \param[in] errorCode The error code extern void USER_setErrorCode(USER_Params *pUserParams,const USER_ErrorCode_e errorCode); //! \brief Recalculates Inductances with the correct Q Format //! \param[in] handle The controller (CTRL) handle extern void USER_softwareUpdate1p6(CTRL_Handle handle); //! \brief Updates Id and Iq PI gains //! \param[in] handle The controller (CTRL) handle extern void USER_calcPIgains(CTRL_Handle handle); //! \brief Computes the scale factor needed to convert from torque created by Ld, Lq, Id and Iq, from per unit to Nm //! \return The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm, in IQ24 format extern _iq USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(void); //! \brief Computes the scale factor needed to convert from torque created by flux and Iq, from per unit to Nm //! \return The scale factor to convert torque from Flux * Iq from per unit to Nm, in IQ24 format extern _iq USER_computeTorque_Flux_Iq_pu_to_Nm_sf(void); //! \brief Computes the scale factor needed to convert from per unit to Wb //! \return The scale factor to convert from flux per unit to flux in Wb, in IQ24 format extern _iq USER_computeFlux_pu_to_Wb_sf(void); //! \brief Computes the scale factor needed to convert from per unit to V/Hz //! \return The scale factor to convert from flux per unit to flux in V/Hz, in IQ24 format extern _iq USER_computeFlux_pu_to_VpHz_sf(void); //! \brief Computes Flux in Wb or V/Hz depending on the scale factor sent as parameter //! \param[in] handle The controller (CTRL) handle //! \param[in] sf The scale factor to convert flux from per unit to Wb or V/Hz //! \return The flux in Wb or V/Hz depending on the scale factor sent as parameter, in IQ24 format extern _iq USER_computeFlux(CTRL_Handle handle, const _iq sf); //! \brief Computes Torque in Nm //! \param[in] handle The controller (CTRL) handle //! \param[in] torque_Flux_sf The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm //! \param[in] torque_Ls_sf The scale factor to convert torque from Flux * Iq from per unit to Nm //! \return The torque in Nm, in IQ24 format extern _iq USER_computeTorque_Nm(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf); //! \brief Computes Torque in lbin //! \param[in] handle The controller (CTRL) handle //! \param[in] torque_Flux_sf The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to lbin //! \param[in] torque_Ls_sf The scale factor to convert torque from Flux * Iq from per unit to lbin //! \return The torque in lbin, in IQ24 format extern _iq USER_computeTorque_lbin(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf); #ifdef __cplusplus } #endif // extern "C" //@} // ingroup #endif // end of _USER_H_ definition