hpm_mcl_control.h File Reference

#include "hpm_mcl_common.h"
#include "hpm_mcl_math.h"

Go to the source code of this file.

Data Structures
struct	mcl_offline_param_detection_result_t
	Results of offline parameter testing. More...
struct	mcl_clc_coeff_cfg_t
	3p-3z Coefficients for 3p-3z controllers More...
struct	mcl_control_pid_cfg_t
	Configuration data for pid. More...
struct	mcl_control_pid_t
	pid running data More...
struct	mcl_control_dead_area_pwm_offset_t
	Used to compensate for pwm dead zones, Duty cycle ratio, between 0 and 1. More...
struct	mcl_control_dead_area_compensation_cfg_t
	DeadAera Compensation Configuration. More...
struct	mcl_control_dead_area_compensation_t
	DeadAera Compensation data. More...
struct	mcl_control_smc_cfg_t
	Sensorless smc configuration. More...
struct	mcl_control_smc_t
	Sensorless smc structure. More...
struct	mcl_control_offline_param_detection_cfg_t
	Offline Detection Configuration. More...
struct	mcl_control_offline_param_detection_t
	Offline Detection Data. More...
struct	mcl_control_svpwm_duty_t
	pwm duty cycle More...
struct	mcl_control_method_t
	Supported control algorithms. More...
struct	mcl_control_callback_t
	callback function More...
struct	mcl_control_cfg_t
	Control Function Configuration. More...
struct	mcl_control_t
	Control function running data. More...

Enumerations
enum	mcl_control_status_t { control_status_null = 0 , control_status_init = 1 , control_status_run = 2 , control_status_fail = 3 }
	Control Module Status. More...
enum	mcl_svpwm_sector_t {   svpwm_sector1 = 1 , svpwm_sector2 = 2 , svpwm_sector3 = 3 , svpwm_sector4 = 4 ,   svpwm_sector5 = 5 , svpwm_sector6 = 6 }
	Six sectors of svpwm. More...

Functions
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...
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...

Enumeration Type Documentation

mcl_control_status_t

enum mcl_control_status_t

Control Module Status.

Enumerator
control_status_null
control_status_init
control_status_run
control_status_fail

mcl_svpwm_sector_t

enum mcl_svpwm_sector_t

Six sectors of svpwm.

Enumerator
svpwm_sector1
svpwm_sector2
svpwm_sector3
svpwm_sector4
svpwm_sector5
svpwm_sector6

Function Documentation

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_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_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