HIFIVE1-VP/platform/incl/sysc/top/BLDC.h

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/*******************************************************************************
* Copyright (C) 2018 MINRES Technologies GmbH
* All rights reserved.
*
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* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder 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 HOLDER 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.
*
*******************************************************************************/
#ifndef BLDC_H_
#define BLDC_H_
#include <boost/numeric/odeint.hpp>
namespace odeint = boost::numeric::odeint;
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inline double norm_angle(double alpha) {
double alpha_n = fmod(alpha, M_PI * 2);
while (alpha_n < 0.) alpha_n += (M_PI * 2);
return alpha_n;
}
class BLDC {
public:
struct Config {
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double inertia = 0.0005; /* aka 'J' in kg/(m^2) */
double damping = 0.000089; /* aka 'B' in Nm/(rad/s) */
double static_friction = 0.0; /* in Nm */
// double Kv = 0.0042; /* motor constant in RPM/V */
double Ke = 0.0042; /* back emf constant in V/rad/s*/
double L = 0.0027; /* Coil inductance in H */
double M = -0.000069; /* Mutual coil inductance in H */
double R = 2.875; /* Coil resistence in Ohm */
int NbPoles =
2; /* NbPoles / 2 = Number of pole pairs (you count the permanent magnets on the rotor to get NbPoles) */
};
using StateVector = std::array<double, 5>;
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struct State {
double &theta; /* angle of the rotor */
double &omega; /* angular speed of the rotor */
double &ia; /* phase a current */
double &ib; /* phase b current */
double &ic; /* phase c current */
explicit State(StateVector &v)
: theta(v[0])
, omega(v[1])
, ia(v[2])
, ib(v[3])
, ic(v[4]) {}
State(State &&) = delete;
State(const State &) = delete;
State &operator=(const State &) = delete; // Copy assignment operator
State &operator=(const State &&) = delete; // Move assignment operator
~State() {}
void init() {
theta = ia = ib = ic = 0;
omega = 0.;
}
};
explicit BLDC(const Config config);
virtual ~BLDC();
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void set_input(std::array<double, 3> vin) { this->vin = vin; }
void run(double dt);
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void printToStream(std::ostream &) const;
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double get_current_time() { return current_time; }
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std::array<double, 7> get_voltages() {
return std::array<double, 7>{voltages[VA], voltages[VB], voltages[VC], voltages[VCENTER],
voltages[EA], voltages[EB], voltages[EC]};
}
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const State &getState() { return state; }
void setLoad(double torque) { torque_load = torque; }
const double dt = 0.00000001;
protected:
Config config;
StateVector stateVector;
State state;
std::array<double, 3> vin;
double current_time = 0.0;
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double torque_load = 0.0001;
double etorque = 0.0, mtorque = 0.0;
std::array<double, 7> voltages;
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enum VoltageNames { EA = 0, EB = 1, EC = 2, VA = 3, VB = 4, VC = 5, VCENTER = 6 };
double calc_bemf_factor(const State &state, double theta);
void calc_back_emf(const State &state, double theta_e);
void calc_voltages();
// ODE part
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// boost::numeric::odeint::runge_kutta4< StateVector > stepper;
// boost::numeric::odeint::runge_kutta_cash_karp54<StateVector > stepper;
// using stepper_type = odeint::runge_kutta_dopri5<StateVector>;
// using stepper_type = odeint::runge_kutta_cash_karp54< StateVector>;
using stepper_type = odeint::runge_kutta_fehlberg78<StateVector>;
void rotor_dyn(const StateVector &x, StateVector &dxdt, const double t);
};
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std::ostream &operator<<(std::ostream &os, const BLDC &bldc);
#endif /* BLDC_H_ */