106 lines
3.5 KiB
C
106 lines
3.5 KiB
C
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/*
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* BLDC.h
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*
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* Created on: 26.06.2018
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* Author: eyck
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*/
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#ifndef BLDC_H_
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#define BLDC_H_
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#include <boost/numeric/odeint.hpp>
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namespace odeint = boost::numeric::odeint;
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inline
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double norm_angle(double alpha){
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double alpha_n = fmod(alpha, M_PI * 2);
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if (alpha_n < 0.) alpha_n += (M_PI * 2);
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return alpha_n;
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}
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class BLDC {
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public:
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struct Config {
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double inertia = 0.0005; /* aka 'J' in kg/(m^2) */
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double damping = 0.000089; /* aka 'B' in Nm/(rad/s) */
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double static_friction = 0.0; /* in Nm */
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//double Kv = 0.0042; /* motor constant in RPM/V */
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double Ke = 0.0042; /* back emf constant in V/rad/s*/
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double L = 0.0027; /* Coil inductance in H */
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double M = -0.000069; /* Mutual coil inductance in H */
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double R = 2.875; /* Coil resistence in Ohm */
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int NbPoles = 2; /* NbPoles / 2 = Number of pole pairs (you count the permanent magnets on the rotor to get NbPoles) */
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};
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using StateVector = std::array<double, 5>;
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struct State{
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double& theta; /* angle of the rotor */
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double& omega; /* angular speed of the rotor */
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double& ia; /* phase a current */
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double& ib; /* phase b current */
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double& ic; /* phase c current */
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explicit State(StateVector& v):theta(v[0]), omega(v[1]), ia(v[2]), ib(v[3]), ic(v[4]){}
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State(State&&) = delete;
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State(const State&) = delete;
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State& operator=(const State&) = delete; // Copy assignment operator
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State& operator=(const State&&) = delete; // Move assignment operator
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~State(){}
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void init(){
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theta = ia = ib = ic = 0;
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omega = 0.;
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}
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};
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explicit BLDC(const Config config);
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virtual ~BLDC();
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void set_input(std::array<double, 3> vin){
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this->vin=vin;
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}
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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::tuple<double, double, double> get_voltages(){
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return std::tuple<double, double, double>(
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voltages[VA]+voltages[EA]+state.ia*config.R,
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voltages[VB]+voltages[EB]+state.ib*config.R,
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voltages[VC]+voltages[EC]+state.ic*config.R
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);
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}
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const State& getState(){ return state;}
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void setLoad(double torque){torque_load=torque;}
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protected:
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Config config;
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StateVector stateVector;
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State state;
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std::array<double, 3> vin;
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double current_time = 0.0;
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double torque_load=0.0;
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double etorque=0.0, mtorque=0.0;
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const double dt = 0.000001;
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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};
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double calc_bemf_factor(const State& state, double theta );
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void calc_back_emf(const State& state, double theta_e );
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void calc_voltages();
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// ODE part
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//boost::numeric::odeint::runge_kutta4< StateVector > stepper;
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//boost::numeric::odeint::runge_kutta_cash_karp54<StateVector > stepper;
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//using stepper_type = odeint::runge_kutta_dopri5<StateVector>;
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//using stepper_type = odeint::runge_kutta_cash_karp54< StateVector>;
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using stepper_type = odeint::runge_kutta_fehlberg78< StateVector>;
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void rotor_dyn( const StateVector& x , StateVector& dxdt , const double t );
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};
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std::ostream& operator<<(std::ostream& os, const BLDC& bldc);
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#endif /* BLDC_H_ */
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