PI reg. constants modified according rltool results. Added possibility to interactive...

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / main_pmsm.c

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index bd676e4deb8c07b737c5ce2a1c0a2b08607ed8c0..e4ec9acf6623716c9f3dd840b4d12a94710c1f66 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -27,8 +27,14 @@
 
 
 #define PID_P          0.3
-#define PID_P_S                0.9     /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
-#define PID_I_S                0.01
+
+/*     RL-tool results from first order system approx  */
+/*     P=0.16 I=13,4/freq=0.013                        */
+/*     Hodnoty upraveny podle skutecnych vysledku      */
+/*     P=0.8   I=0.01                                  */
+
+#define PID_P_S                0.16            /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S                0.0134
 
 #define PRIOR_KERN     50
 #define PRIOR_HIGH     49
@@ -60,7 +66,8 @@ struct rpi_state rps={
        .spd_err_sum=0,
        .log_col_count=0,       /* pocet radku zaznamu */
        .log_col=0,
-       .doLogs=0
+       .doLogs=0,
+       .alpha_offset=960
 };
 
 /**
@@ -127,15 +134,32 @@ void makeLog(){
        rps.logs[0][rps.log_col]=(int)rps.tf_count;
        rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
 
-       rps.log_col++;
+       rps.logs[2][rps.log_col]=(int)rps.pwm1;
+       rps.logs[3][rps.log_col]=(int)rps.pwm2;
+       rps.logs[4][rps.log_col]=(int)rps.pwm3;
+       rps.logs[5][rps.log_col]=rps.duty;
 
+       rps.logs[6][rps.log_col]=rps.desired_spd;
+       rps.logs[7][rps.log_col]=rps.speed;
+
+       rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
+       rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
+       rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
+
+       rps.log_col++;
+     /*
         if (rps.log_col==rps.log_col_count-1){
                rps.log_col_count*=2;
                rps.log_col_count%=MAX_LOGS;
                for (r=0;r<LOG_ROWS;r++){
                        rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
+                       if (rps.logs[r]==NULL){
+                               rps.doLogs=0;
+                               rps.error=1;
+                       }
                }
         }
+     */
 }
 
 /*
@@ -301,7 +325,7 @@ void inv_trans_comm_2(int duty){
        int32_t u1,u2,u3;
        pos=rps.index_dist;
 
-       pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+       pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
 
        /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
        pos*=4294967;