mc_control.h File Reference

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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_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_Speed_Loop ()
	set type of regulation

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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 104 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().

{
  U8 Duty = 0;
  S32 increment = 0;

  // Error calculation
  cur_error = cur_cmd - (mci_get_measured_current());// value -255 <=> 255

  // proportional term calculation
  cur_proportional = Kp_cur*cur_error;

  // integral term calculation
  cur_integral = cur_integral + cur_error;

  if(cur_integral >  255) cur_integral =  255;
  if(cur_integral < -255) cur_integral = -255;

  cur_integ = Ki_cur*cur_integral;

  // derivative term calculation
  /*cur_derivative = cur_error - last_cur_error;

  if(cur_derivative >  255) cur_derivative =  255;
  if(cur_derivative < -255) cur_derivative = -255;

  cur_der = Kd_cur*cur_derivative;

  last_cur_error = cur_error;*/

  // Duty Cycle calculation
  increment = cur_proportional + cur_integ;
  //increment += cur_der;
  increment = increment >> K_cur_scal;

  // Variable saturation
  if(increment >= (S16)(255)) Duty = 255;
  else
  {
    if(increment <= (S16)(0)) Duty =   0;
    else Duty = (U8)(increment);
  }

  // return Duty Cycle
  return Duty;
}

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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 49 of file mc_control.c.

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

Referenced by mc_regulation_loop().

{
  U8 Duty = 0;
  S32 increment = 0;

  // Error calculation
  speed_error = speed_cmd - mci_get_measured_speed();// value -255 <=> 255

  // proportional term calculation
  speed_proportional = Kp_speed*speed_error;

  // integral term calculation
  speed_integral = speed_integral + speed_error;

  if(speed_integral >  255) speed_integral =  255;
  if(speed_integral < -255) speed_integral = -255;

  speed_integ = Ki_speed*speed_integral;

  // derivative term calculation
  /*speed_derivative = speed_error - last_speed_error;

  if(speed_derivative >  255) speed_derivative =  255;
  if(speed_derivative < -255) speed_derivative = -255;

  speed_der = Kd_speed*speed_derivative;

  last_speed_error = speed_error;*/

  // Duty Cycle calculation
  increment = speed_proportional + speed_integ;
  //increment += speed_der;
  increment = increment >> K_speed_scal;

  // Variable saturation
  if(increment >= (S16)(255)) Duty = 255;
  else
  {
    if(increment <= (S16)(0)) Duty =   0;
    else Duty = (U8)(increment);
  }

  // return Duty Cycle
  return Duty;
}

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U8 mc_get_Duty_Cycle

(

)

set type of regulation

Precondition:

none

Postcondition:

Close loop regulation Set

Definition at line 204 of file mc_control.c.

References duty_cycle.

Referenced by mci_retry_run(), and mci_run().

{
  return duty_cycle;
}

void mc_regulation_loop

(

)

launch speed control or no regulation

Precondition:

none

Postcondition:

new duty cycle on PWM

Definition at line 160 of file mc_control.c.

References Clear_EXT3, CURRENT_LOOP, duty_cycle, mc_control_current(), mc_control_speed(), mc_get_motor_speed(), mc_get_potentiometer_value(), OPEN_LOOP, regulation_type, Set_EXT3, and SPEED_LOOP.

Referenced by mci_retry_run(), and mci_run().

{
  // measure
  Set_EXT3();

  switch(regulation_type)
  {
    case OPEN_LOOP     : duty_cycle = mc_get_motor_speed();break;
    case SPEED_LOOP    : duty_cycle = mc_control_speed(mc_get_motor_speed());break;
    case CURRENT_LOOP  : duty_cycle = mc_control_current(mc_get_potentiometer_value());break;
    default : break;
  }

  // measure
  Clear_EXT3();
}

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void mc_set_Current_Loop

(

)

set type of regulation

Precondition:

none

Postcondition:

Position loop regulation Set

Definition at line 196 of file mc_control.c.

References CURRENT_LOOP, and regulation_type.

{regulation_type = CURRENT_LOOP;}

void mc_set_Open_Loop

(

)

set type of regulation

Precondition:

none

Postcondition:

Open loop regulation Set

Definition at line 182 of file mc_control.c.

References OPEN_LOOP, and regulation_type.

{regulation_type = OPEN_LOOP;}

void mc_set_Speed_Loop

(

)

set type of regulation

Precondition:

none

Postcondition:

Speed loop regulation Set

Definition at line 189 of file mc_control.c.

References regulation_type, and SPEED_LOOP.

{regulation_type = SPEED_LOOP;}