hpm_mcl_control.c File Reference

#include "hpm_mcl_control.h"
#include "hpm_mcl_math.h"

Functions
float	hpm_mcl_control_sin (float x)
float	hpm_mcl_control_cos (float x)
float	hpm_mcl_control_arctan (float y, float x)
hpm_mcl_stat_t	hpm_mcl_control_clarke (float ia, float ib, float ic, float *alpha, float *beta)
hpm_mcl_stat_t	hpm_mcl_control_park (float alpha, float beta, float sin_x, float cos_x, float *d, float *q)
hpm_mcl_stat_t	hpm_mcl_control_pi (float ref, float sens, mcl_control_pid_t *pid_x, float *output)
hpm_mcl_stat_t	hpm_mcl_control_inv_park (float d, float q, float sin_x, float cos_x, float *alpha, float *beta)
hpm_mcl_stat_t	hpm_mcl_control_svpwm (float alpha, float beta, float vbus, mcl_control_svpwm_duty_t *duty)
hpm_mcl_stat_t	hpm_mcl_control_step_svpwm (float alpha, float beta, float vbus, mcl_control_svpwm_duty_t *duty)
hpm_mcl_stat_t	hpm_mcl_control_get_block_sector (hall_phase_t hall, uint8_t u, uint8_t v, uint8_t w, uint8_t *sector)
float	hpm_mcl_control_lowpass_filter (float input, float *mem, float k)
hpm_mcl_stat_t	hpm_mcl_control_dead_area_polarity_detection (mcl_control_dead_area_compensation_t *dead_area, float id, float iq, float theta, float deadtime, float ts, mcl_control_dead_area_pwm_offset_t *pwm_out)
void	hpm_mcl_control_smc_init (mcl_control_smc_t *smc_cfg)
void	hpm_mcl_control_smc_process (mcl_control_smc_t *smc_cfg, float ualpha, float ubeta, float ialpha, float ibeta)
hpm_mcl_stat_t	hpm_mcl_control_offline_param_detection_rs (mcl_control_offline_param_detection_t *detection, float ialpha, float ibeta, float *ud, float *uq)
hpm_mcl_stat_t	hpm_mcl_control_offline_param_detection_ld (mcl_control_offline_param_detection_t *detection, float ialpha, float ibeta, float *ud, float *uq)
hpm_mcl_stat_t	hpm_mcl_control_offline_param_detection_lq (mcl_control_offline_param_detection_t *detection, float ialpha, float ibeta, float *ud, float *uq)
hpm_mcl_stat_t	hpm_mcl_control_offline_param_detection_ls (mcl_control_offline_param_detection_t *detection)
hpm_mcl_stat_t	hpm_mcl_control_offline_param_detection_flux (mcl_control_offline_param_detection_t *detection, float ialpha, float ibeta, float ualpha, float ubeta, float *ref_d, float *ref_q)
hpm_mcl_stat_t	hpm_mcl_control_detection_init (mcl_control_offline_param_detection_t *detection)
hpm_mcl_stat_t	hpm_mcl_pid_to_3p3z (mcl_control_pid_cfg_t *cfg_pid, mcl_clc_coeff_cfg_t *cfg_3p3z)
	Convert a 3p3z controller to a pid controller. More...
hpm_mcl_stat_t	hpm_mcl_delta_pid (float setpoint, float feedback, mcl_control_pid_t *pid_x, float *output)
hpm_mcl_stat_t	hpm_mcl_position_pid (float setpoint, float feedback, mcl_control_pid_t *pid_x, float *output)
	Calculate the output of a Positional PID controller. More...
hpm_mcl_stat_t	hpm_mcl_pid_init (mcl_control_pid_t *pid_x)
hpm_mcl_stat_t	hpm_mcl_control_init (mcl_control_t *control, mcl_control_cfg_t *cfg)
	Initialise the operating data for the control function. More...

Function Documentation

hpm_mcl_control_arctan()

float hpm_mcl_control_arctan	(	float	y,
		float	x
	)

hpm_mcl_control_clarke()

hpm_mcl_stat_t hpm_mcl_control_clarke	(	float	ia,
		float	ib,
		float	ic,
		float *	alpha,
		float *	beta
	)

hpm_mcl_control_cos()

float hpm_mcl_control_cos

(

float

x

)

hpm_mcl_control_dead_area_polarity_detection()

hpm_mcl_stat_t hpm_mcl_control_dead_area_polarity_detection	(	mcl_control_dead_area_compensation_t *	dead_area,
		float	id,
		float	iq,
		float	theta,
		float	deadtime,
		float	ts,
		mcl_control_dead_area_pwm_offset_t *	pwm_out
	)

hpm_mcl_control_detection_init()

hpm_mcl_stat_t hpm_mcl_control_detection_init

(

mcl_control_offline_param_detection_t *

detection

)

hpm_mcl_control_get_block_sector()

hpm_mcl_stat_t hpm_mcl_control_get_block_sector	(	hall_phase_t	hall,
		uint8_t	u,
		uint8_t	v,
		uint8_t	w,
		uint8_t *	sector
	)

hpm_mcl_control_init()

hpm_mcl_stat_t hpm_mcl_control_init	(	mcl_control_t *	control,
		mcl_control_cfg_t *	cfg
	)

Initialise the operating data for the control function.

Parameters

control	mcl_control_t
cfg	mcl_control_cfg_t

Returns

hpm_mcl_stat_t

Data initialisation

function initialisation

hpm_mcl_control_inv_park()

hpm_mcl_stat_t hpm_mcl_control_inv_park	(	float	d,
		float	q,
		float	sin_x,
		float	cos_x,
		float *	alpha,
		float *	beta
	)

hpm_mcl_control_lowpass_filter()

float hpm_mcl_control_lowpass_filter	(	float	input,
		float *	mem,
		float	k
	)

hpm_mcl_control_offline_param_detection_flux()

hpm_mcl_stat_t hpm_mcl_control_offline_param_detection_flux	(	mcl_control_offline_param_detection_t *	detection,
		float	ialpha,
		float	ibeta,
		float	ualpha,
		float	ubeta,
		float *	ref_d,
		float *	ref_q
	)

hpm_mcl_control_offline_param_detection_ld()

hpm_mcl_stat_t hpm_mcl_control_offline_param_detection_ld	(	mcl_control_offline_param_detection_t *	detection,
		float	ialpha,
		float	ibeta,
		float *	ud,
		float *	uq
	)

hpm_mcl_control_offline_param_detection_lq()

hpm_mcl_stat_t hpm_mcl_control_offline_param_detection_lq	(	mcl_control_offline_param_detection_t *	detection,
		float	ialpha,
		float	ibeta,
		float *	ud,
		float *	uq
	)

hpm_mcl_control_offline_param_detection_ls()

hpm_mcl_stat_t hpm_mcl_control_offline_param_detection_ls

(

mcl_control_offline_param_detection_t *

detection

)

hpm_mcl_control_offline_param_detection_rs()

hpm_mcl_stat_t hpm_mcl_control_offline_param_detection_rs	(	mcl_control_offline_param_detection_t *	detection,
		float	ialpha,
		float	ibeta,
		float *	ud,
		float *	uq
	)

hpm_mcl_control_park()

hpm_mcl_stat_t hpm_mcl_control_park	(	float	alpha,
		float	beta,
		float	sin_x,
		float	cos_x,
		float *	d,
		float *	q
	)

hpm_mcl_control_pi()

hpm_mcl_stat_t hpm_mcl_control_pi	(	float	ref,
		float	sens,
		mcl_control_pid_t *	pid_x,
		float *	output
	)

hpm_mcl_control_sin()

float hpm_mcl_control_sin

(

float

x

)

hpm_mcl_control_smc_init()

void hpm_mcl_control_smc_init

(

mcl_control_smc_t *

smc_cfg

)

hpm_mcl_control_smc_process()

void hpm_mcl_control_smc_process	(	mcl_control_smc_t *	smc_cfg,
		float	ualpha,
		float	ubeta,
		float	ialpha,
		float	ibeta
	)

hpm_mcl_control_step_svpwm()

hpm_mcl_stat_t hpm_mcl_control_step_svpwm	(	float	alpha,
		float	beta,
		float	vbus,
		mcl_control_svpwm_duty_t *	duty
	)

hpm_mcl_control_svpwm()

hpm_mcl_stat_t hpm_mcl_control_svpwm	(	float	alpha,
		float	beta,
		float	vbus,
		mcl_control_svpwm_duty_t *	duty
	)

hpm_mcl_delta_pid()

hpm_mcl_stat_t hpm_mcl_delta_pid	(	float	setpoint,
		float	feedback,
		mcl_control_pid_t *	pid_x,
		float *	output
	)

Calculates the output of a Delta PID controller.

This function implements a Delta PID (Proportional-Integral-Derivative) controller calculation to determine the controller's output value based on the setpoint and feedback values. The PID controller adjusts the output value using proportional (P), integral (I), and derivative (D) terms to minimize the error between the setpoint and feedback values.

Parameters

setpoint	The desired output value of the system.
feedback	The actual output value of the system.
pid_x	Pointer to the PID controller structure containing the configuration and state.
output	Pointer to store the calculated controller output value.

Returns

Returns a status code indicating whether the function executed successfully.

Note:

• This function assumes that the PID controller structure mcl_control_pid_t is properly initialized.
• The function internally limits the output value to ensure it does not exceed the configured minimum and maximum output values.

hpm_mcl_pid_init()

hpm_mcl_stat_t hpm_mcl_pid_init

(

mcl_control_pid_t *

pid_x

)

hpm_mcl_pid_to_3p3z()

hpm_mcl_stat_t hpm_mcl_pid_to_3p3z	(	mcl_control_pid_cfg_t *	cfg_pid,
		mcl_clc_coeff_cfg_t *	cfg_3p3z
	)

Convert a 3p3z controller to a pid controller.

Parameters

pid	mcl_control_pid_cfg_t
p3z3	mcl_clc_coeff_cfg_t

Returns

hpm_mcl_stat_t

The relationship between the 3p3z coefficients and the P, I, and D gains of the basic PID is obtained by the standard discrete transform method, and the final result given here. Principle View Knowledge Base.

hpm_mcl_position_pid()

hpm_mcl_stat_t hpm_mcl_position_pid	(	float	setpoint,
		float	feedback,
		mcl_control_pid_t *	pid_x,
		float *	output
	)

Calculate the output of a Positional PID controller.

This function implements a typical PID (Proportional-Integral-Derivative) controller to compute the control signal based on the setpoint and feedback. The PID controller optimizes the control process by adjusting three parameters: proportional gain (KP), integral gain (KI), and derivative gain (KD). The proportional term responds quickly to the error, the integral term eliminates steady-state error, and the derivative term predicts and reduces overshoot.

Parameters

setpoint	The setpoint, i.e., the desired output value
feedback	The feedback signal, representing the actual output value
pid_x	Pointer to the PID controller structure, containing the configuration and state
output	Pointer to the output control signal

Returns

hpm_mcl_stat_t The execution status, indicating whether the PID calculation was successful