mc_control.c File Reference

Detailed Description

Copyright (c) 2005 Atmel.This module provides PID regulation routines Type of control : PID means proportionnal, integral and derivative. 4 kinds of regulation are available :

Version:
1.0 (CVS revision :
Revision
1.4
)
Date:
Date
2006/07/12 12:58:27
Author:
Author
raubree

Definition in file mc_control.c.

#include "config.h"
#include "config_motor.h"
#include "mc_control.h"
#include "mc_drv.h"
#include "mc_interface.h"

Include dependency graph for mc_control.c:

Go to the source code of this file.

Functions

U8 mc_control_current (U8 cur_cmd)
 use to control current , current regulation loop need parameter : Kp_cur, Ki_cur ,Kd_cur and K_cur_scal in config_motor.h need to call in Te ms
U8 mc_control_position (S32 Number_of_turns)
 use to control position , position regulation loop need parameter : Kp, Ki ,Kd and K_scal in config_motor.h need to call in Te ms
U8 mc_control_speed (U8 speed_cmd)
 use to control speed , speed regulation loop need parameter : Kp_speed, Ki_speed ,Kd_speed and K_speed_scal in config_motor.h need to call in Te ms
U8 mc_get_Duty_Cycle ()
 set type of regulation
void mc_regulation_loop ()
 launch speed control or no regulation
void mc_set_Current_Loop ()
 set type of regulation
void mc_set_Open_Loop ()
 set type of regulation
void mc_set_Position_Loop ()
 set type of regulation
void mc_set_Speed_Loop ()
 set type of regulation

Variables

U8 BO_BF = SPEED_LOOP
 Define the type of regulation (OPEN_LOOP or CLOSE_LOOP).
S16 cur_der = 0
S16 cur_derivative = 0
S16 cur_error = 0
 Error calculation.
S16 cur_integ = 0
S16 cur_integral = 0
S16 cur_proportional = 0
U8 duty_cycle = 0
 Parameter to set PWM Duty Cycle after regulation calculation.
S16 last_cur_error = 0
 Variable for the last error.
S16 last_pos_error = 0
 Variable for the last error.
S16 last_speed_error = 0
 Variable for the last error.
S16 pos_der = 0
S16 pos_derivative = 0
S16 pos_error = 0
 Error calculation.
S16 pos_integ = 0
S16 pos_integral = 0
S16 pos_proportional = 0
S16 speed_der = 0
S16 speed_derivative = 0
S16 speed_error = 0
 Error calculation.
S16 speed_integ = 0
S16 speed_integral = 0
S16 speed_proportional = 0

Function Documentation

U8 mc_control_current ( U8  cur_cmd  ) 

use to control current , current regulation loop need parameter : Kp_cur, Ki_cur ,Kd_cur and K_cur_scal in config_motor.h need to call in Te ms

Returns:
value of current, duty cycle on 8 bits

Definition at line 121 of file mc_control.c.

References cur_error, cur_integ, cur_integral, cur_proportional, K_cur_scal, Ki_cur, Kp_cur, and mci_get_measured_current().

Referenced by mc_regulation_loop().

00122 {
00123   U8 Duty = 0;
00124   S32 increment = 0;
00125 
00126   // Error calculation
00127   cur_error = cur_cmd - (mci_get_measured_current());// value -255 <=> 255
00128 
00129   // proportional term calculation
00130   cur_proportional = Kp_cur*cur_error;
00131 
00132   // integral term calculation
00133   cur_integral = cur_integral + cur_error;
00134 
00135   if(cur_integral >  255) cur_integral =  255;
00136   if(cur_integral < -255) cur_integral = -255;
00137 
00138   cur_integ = Ki_cur*cur_integral;
00139 
00140   // derivative term calculation
00141   /*cur_derivative = cur_error - last_cur_error;
00142 
00143   if(cur_derivative >  255) cur_derivative =  255;
00144   if(cur_derivative < -255) cur_derivative = -255;
00145 
00146   cur_der = Kd_cur*cur_derivative;
00147 
00148   last_cur_error = cur_error;*/
00149 
00150   // Duty Cycle calculation
00151   increment = cur_proportional + cur_integ;
00152   //increment += cur_der;
00153   increment = increment >> K_cur_scal;
00154 
00155   // Variable saturation
00156   if(increment >= (S16)(255)) Duty = 255;
00157   else
00158   {
00159     if(increment <= (S16)(0)) Duty =   0;
00160     else Duty = (U8)(increment);
00161   }
00162 
00163   // return Duty Cycle
00164   return Duty;
00165 }

Here is the call graph for this function:

Here is the caller graph for this function:

U8 mc_control_position ( S32  Number_of_turns  ) 

use to control position , position regulation loop need parameter : Kp, Ki ,Kd and K_scal in config_motor.h need to call in Te ms

Returns:
value of speed, duty cycle on 8 bits

Definition at line 176 of file mc_control.c.

References CCW, CW, K_pos_scal, Kd_pos, Ki_pos, Kp_pos, last_pos_error, mc_get_Num_Turn(), mci_set_motor_direction(), pos_der, pos_derivative, pos_error, pos_integ, pos_integral, and pos_proportional.

Referenced by mc_regulation_loop().

00177 {
00178   U8 Duty = 0;
00179   S32 increment = 0;
00180 
00181   // Error calculation
00182   pos_error =  Number_of_turns - mc_get_Num_Turn();
00183 
00184   // proportional term calculation
00185   pos_proportional = Kp_pos*pos_error;
00186 
00187   // integral term calculation
00188   pos_integral = pos_integral + pos_error;
00189 
00190   if(pos_integral >  255) pos_integral =  255;
00191   if(pos_integral < -255) pos_integral = -255;
00192 
00193   pos_integ = Ki_pos * pos_integral;
00194 
00195   // derivative term calculation
00196   pos_derivative = pos_error - last_pos_error;
00197 
00198   if(pos_derivative >  255) pos_derivative =  255;
00199   if(pos_derivative < -255) pos_derivative = -255;
00200 
00201   pos_der = Kd_pos*pos_derivative;
00202 
00203   last_pos_error = pos_error;
00204 
00205   // Duty Cycle calculation
00206   increment = pos_proportional + pos_integ;
00207   increment += pos_der;
00208   increment = increment >> K_pos_scal;
00209 
00210   // Variable saturation
00211   if(increment >= (S16)(0))
00212   {
00213     if(increment >= (S16)(100))Duty = 100;
00214     else Duty = (U8)(increment);
00215     mci_set_motor_direction(CW);
00216   }
00217   else
00218   {
00219     if(increment <= (S16)(-100)) Duty = 100;
00220     else Duty = (U8)(-increment);
00221     mci_set_motor_direction(CCW);
00222   }
00223   // return Duty Cycle
00224   return Duty;
00225 }

Here is the call graph for this function:

Here is the caller graph for this function:

U8 mc_control_speed ( U8  speed_cmd  ) 

use to control speed , speed regulation loop need parameter : Kp_speed, Ki_speed ,Kd_speed and K_speed_scal in config_motor.h need to call in Te ms

Returns:
value of speed, duty cycle on 8 bits

Definition at line 65 of file mc_control.c.

References K_speed_scal, Ki_speed, Klin_speed, Kp_speed, mci_get_measured_speed(), speed_error, speed_integ, speed_integral, and speed_proportional.

Referenced by mc_regulation_loop().

00066 {
00067   U8 Duty = 0;
00068   S16 increment = 0;
00069 
00070   // Error calculation
00071   speed_error = (S16)speed_cmd - mci_get_measured_speed();// value -255 <=> 255
00072 
00073   // proportional term calculation
00074   speed_proportional = (S16)Kp_speed * speed_error;
00075 
00076   // integral term calculation
00077   speed_integral = speed_integral + speed_error;
00078 
00079   if(speed_integral >  (S16)255) speed_integral =  255;
00080   if(speed_integral < (S16)-255) speed_integral = -255;
00081 
00082   speed_integ = (S16)Ki_speed * speed_integral;
00083 
00084   // derivative term calculation
00085 /*  speed_derivative = (S16)speed_error - last_speed_error;
00086 
00087   if(speed_derivative >  (S16)255) speed_derivative =  255;
00088   if(speed_derivative < (S16)-255) speed_derivative = -255;
00089 
00090   speed_der = Kd_speed*speed_derivative;
00091 
00092   last_speed_error = speed_error;*/
00093 
00094   // Duty Cycle calculation
00095   increment = speed_proportional + speed_integ;
00096   //increment += speed_der;
00097   increment = increment >> K_speed_scal;
00098   increment = increment + Klin_speed;
00099 
00100   // Variable saturation
00101   if(increment >= (S16)(240)) Duty = 240;
00102   else
00103   {
00104     if(increment <= (S16)(130)) Duty = 130;
00105     else Duty = (U8)(increment);
00106   }
00107 
00108   /* return the new "Duty Cycle" */
00109   return Duty;
00110 }

Here is the call graph for this function:

Here is the caller graph for this function:

U8 mc_get_Duty_Cycle (  ) 

set type of regulation

Precondition:
none
Postcondition:
Close loop regulation Set

Definition at line 287 of file mc_control.c.

References duty_cycle.

Referenced by mc_switch_commutation().

00288 {
00289   return duty_cycle;
00290 }

Here is the caller graph for this function:

void mc_regulation_loop (  ) 

launch speed control or no regulation

Precondition:
none
Postcondition:
new duty cycle on PWM

Definition at line 236 of file mc_control.c.

References BO_BF, Clear_EXT3, CURRENT_LOOP, duty_cycle, mc_control_current(), mc_control_position(), mc_control_speed(), mci_get_motor_speed(), mci_get_potentiometer_value(), OPEN_LOOP, POSITION_LOOP, Set_EXT3, and SPEED_LOOP.

Referenced by main(), and mci_run().

00237 {
00238   // measure
00239   Set_EXT3();
00240 
00241   switch(BO_BF)
00242   {
00243     case OPEN_LOOP     : duty_cycle = mci_get_motor_speed();break;
00244     case SPEED_LOOP    : duty_cycle = mc_control_speed(mci_get_motor_speed());break;
00245     case CURRENT_LOOP  : duty_cycle = mc_control_current(mci_get_potentiometer_value());break;
00246     case POSITION_LOOP : duty_cycle = /*mc_control_speed(*/mc_control_position(mci_get_potentiometer_value())/*)*/;break;
00247     default : break;
00248   }
00249 
00250   // measure
00251   Clear_EXT3();
00252 }

Here is the call graph for this function:

Here is the caller graph for this function:

void mc_set_Current_Loop (  ) 

set type of regulation

Precondition:
none
Postcondition:
Position loop regulation Set

Definition at line 273 of file mc_control.c.

References BO_BF, and CURRENT_LOOP.

00273 {BO_BF = CURRENT_LOOP;}

void mc_set_Open_Loop (  ) 

set type of regulation

Precondition:
none
Postcondition:
Open loop regulation Set

Definition at line 259 of file mc_control.c.

References BO_BF, and OPEN_LOOP.

Referenced by main(), and mci_run().

00259 {BO_BF = OPEN_LOOP;}

Here is the caller graph for this function:

void mc_set_Position_Loop (  ) 

set type of regulation

Precondition:
none
Postcondition:
Position loop regulation Set

Definition at line 280 of file mc_control.c.

References BO_BF, and POSITION_LOOP.

00280 {BO_BF = POSITION_LOOP;}

void mc_set_Speed_Loop (  ) 

set type of regulation

Precondition:
none
Postcondition:
Speed loop regulation Set

Definition at line 266 of file mc_control.c.

References BO_BF, and SPEED_LOOP.

00266 {BO_BF = SPEED_LOOP;}

Variable Documentation

U8 BO_BF = SPEED_LOOP

Define the type of regulation (OPEN_LOOP or CLOSE_LOOP).

Definition at line 27 of file mc_control.c.

Referenced by mc_regulation_loop(), mc_set_Current_Loop(), mc_set_Open_Loop(), mc_set_Position_Loop(), and mc_set_Speed_Loop().

S16 cur_der = 0

Definition at line 45 of file mc_control.c.

S16 cur_derivative = 0

Definition at line 44 of file mc_control.c.

S16 cur_error = 0

Error calculation.

Definition at line 39 of file mc_control.c.

Referenced by mc_control_current().

S16 cur_integ = 0

Definition at line 42 of file mc_control.c.

Referenced by mc_control_current().

S16 cur_integral = 0

Definition at line 41 of file mc_control.c.

Referenced by mc_control_current().

S16 cur_proportional = 0

Definition at line 43 of file mc_control.c.

Referenced by mc_control_current().

U8 duty_cycle = 0

Parameter to set PWM Duty Cycle after regulation calculation.

Definition at line 26 of file mc_control.c.

Referenced by mc_get_Duty_Cycle(), and mc_regulation_loop().

S16 last_cur_error = 0

Variable for the last error.

Definition at line 40 of file mc_control.c.

S16 last_pos_error = 0

Variable for the last error.

Definition at line 49 of file mc_control.c.

Referenced by mc_control_position().

S16 last_speed_error = 0

Variable for the last error.

Definition at line 31 of file mc_control.c.

S16 pos_der = 0

Definition at line 54 of file mc_control.c.

Referenced by mc_control_position().

S16 pos_derivative = 0

Definition at line 53 of file mc_control.c.

Referenced by mc_control_position().

S16 pos_error = 0

Error calculation.

Definition at line 48 of file mc_control.c.

Referenced by mc_control_position().

S16 pos_integ = 0

Definition at line 51 of file mc_control.c.

Referenced by mc_control_position().

S16 pos_integral = 0

Definition at line 50 of file mc_control.c.

Referenced by mc_control_position().

S16 pos_proportional = 0

Definition at line 52 of file mc_control.c.

Referenced by mc_control_position().

S16 speed_der = 0

Definition at line 36 of file mc_control.c.

S16 speed_derivative = 0

Definition at line 35 of file mc_control.c.

S16 speed_error = 0

Error calculation.

Definition at line 30 of file mc_control.c.

Referenced by mc_control_speed().

S16 speed_integ = 0

Definition at line 33 of file mc_control.c.

Referenced by mc_control_speed().

S16 speed_integral = 0

Definition at line 32 of file mc_control.c.

Referenced by mc_control_speed().

S16 speed_proportional = 0

Definition at line 34 of file mc_control.c.

Referenced by mc_control_speed().

Generated on Wed Jul 12 16:55:14 2006 for Atmel BLDC Sensorless on ATAVRMC100 by  doxygen 1.4.7