Remade of Kalman observer on XY axes, new DTC.

README.md

@@ -20,7 +20,7 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 
 - Sensorless vector control of PMSM by measurement of currents and voltages.
 - Robust ORTEGA observer with gain scheduling against speed.
-- Accurate KALMAN observer having convergence at HF injection.
+- Accurate KALMAN observer having convergence at HF injection (**EXPERIMENTAL**).
 - Flux weakening and MTPA control (**EXPERIMENTAL**).
 - Three and two phases machine connection.
 - Hardware abstraction layer (HAL) over STM32F4 and STM32F7.
@@ -41,6 +41,7 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
   with inline or low-side placement.
 - Self-adjustment of all onboard measurements (current and voltage) along
   symmetrical channels.
+- Dead-Time Compensation (DTC) based on currents polatity (**EXPERIMENTAL**).
 
 - Advanced SVPWM scheme provides:
 	- Reduced switching losses and fully utilised DC link voltage.
@@ -49,14 +50,13 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 	- Prevent bootstrap circuit undervoltage condition.
 
 - Terminal voltage measurements (TVM):
-	- Compensation of the voltage distortion caused by dead-time insertion.
 	- Back EMF voltage tracking to catch an already running machine.
 	- Self-test of the power stages integrity and machine wiring.
 	- Self-test of bootstrap retention time.
 
-- Automated machine parameters identification (with no external tools):
+- Automated machine parameters identification:
 	- Stator DC resistance (Rs).
-	- Stator AC impedance in DQ frame (L1, L2, R).
+	- Stator AC impedance in DQ frame (Ld, Lq, R).
 	- Rotor flux linkage constant (lambda).
 	- Mechanical moment of inertia (Ja).
 
@@ -82,15 +82,15 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 
 - Adjustable constraints:
 	- Phase current (forward and reverse, on HFI current, weakening D current).
-	- Hardware overtemperature protection (decrease phase current or halt).
+	- Hardware overtemperature protection (derate phase current or halt).
 	- Machine voltage applied from VSI.
 	- DC link current consumption and regeneration.
 	- DC link overvoltage and undervoltage.
 	- Maximal speed and acceleration (forward and reverse).
 	- Absolute location limits in servo operation.
 
 - Input control interfaces:
-	- Analog input knob with brake signal.
+	- Analog input knob and brake signal.
 	- RC servo pulse width modulation.
 	- CAN bus flexible configurable data transfers.
 	- STEP/DIR (or CW/CCW) interface (**EXPERIMENTAL**).
@@ -105,7 +105,7 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 	- Flexible configurable data transfers.
 
 - Available information:
-	- Machine state (electrical position, speed, load torque, etc.)
+	- Machine state (angle, speed, torque, current, etc.)
 	- DC link voltage and current consumption.
 	- Information from temperature sensors.
 	- Total distance traveled.

bench/bench.c

@@ -144,15 +144,10 @@ tlm_plot_grab()
 	fmt_GP(pm.vsi_BF, 0);
 	fmt_GP(pm.vsi_CF, 0);
 	fmt_GP(pm.vsi_IF, 0);
-	fmt_GP(pm.vsi_SF, 0);
 	fmt_GP(pm.vsi_UF, 0);
 
-	fmt_GP(pm.tvm_A, "V");
-	fmt_GP(pm.tvm_B, "V");
-	fmt_GP(pm.tvm_C, "V");
-
-	fmt_GP(pm.tvm_X0, "V");
-	fmt_GP(pm.tvm_Y0, "V");
+	fmt_GP(pm.dtc_uX, "V");
+	fmt_GP(pm.dtc_uY, "V");
 
 	fmt_GP(pm.lu_MODE, 0);
 	fmk_GP(pm.lu_mq_produce, pm.const_Zp, "Nm");
@@ -177,8 +172,8 @@ tlm_plot_grab()
 	sym_GP(atan2(pm.flux_F[1], pm.flux_F[0]) * kDEG, "pm.flux_F", "deg");
 	fmk_GP(pm.flux_wS, kRPM, "rpm");
 
-	fmt_GP(pm.kalman_residual_D, "A");
-	fmt_GP(pm.kalman_residual_Q, "A");
+	fmt_GP(pm.kalman_E[0], "A");
+	fmt_GP(pm.kalman_E[1], "A");
 	fmt_GP(pm.kalman_bias_Q, "V");
 	fmk_GP(pm.kalman_lpf_wS, kRPM, "rpm");
 
@@ -379,60 +374,61 @@ void bench_script()
 
 	tlm_restart();
 
-	/*m.Rs = 8.1E-3;
-	m.Ld = 3.2E-6;
-	m.Lq = 4.8E-6;
-	m.Udc = 48.;
-	m.Rdc = 0.1;
-	m.Zp = 21;
-	m.lambda = blm_Kv_lambda(&m, 109.);
-	m.Jm = 5.39E-3;*/
-
-	m.Rs = 28.E-3;
-	m.Ld = 14.E-6;
-	m.Lq = 22.E-6;
-	m.Udc = 48.;
-	m.Rdc = 0.1;
-	m.Zp = 14;
-	m.lambda = blm_Kv_lambda(&m, 87.);
-	m.Jm = 0.82E-3;
-
-	/*m.Rs = 257.E-3;
-	m.Ld = 1.1E-3;
-	m.Lq = 1.5E-3;
-	m.Udc = 48.;
+	m.Rs = 7.E-3;
+	m.Ld = 37.E-6;
+	m.Lq = 57.E-6;
+	m.Udc = 49.;
 	m.Rdc = 0.1;
-	m.Zp = 1;
-	m.lambda = blm_Kv_lambda(&m, 55.);
-	m.Jm = 5.39E-3;*/
+	m.Zp = 5;
+	m.lambda = blm_Kv_lambda(&m, 58.);
+	m.Jm = 17.E-3;
 
 	ts_script_default();
 	ts_script_base();
 	blm_restart(&m);
 
+	ts_adjust_sensor_hall();
+	blm_restart(&m);
+
 	pm.config_LU_ESTIMATE = PM_FLUX_KALMAN;
+	pm.config_LU_SENSOR = PM_SENSOR_HALL;
+	pm.config_HFI_WAVETYPE = PM_HFI_SINE;
+	//pm.config_DTC_VOLTAGE = PM_DISABLED;
+
+	pm.watt_wA_maximal = 80.f;
+	pm.watt_wA_reverse = 80.f;
+
+	pm.zone_threshold *= 2.f;
+
+	pm.hall_gain_IF = 0.1f;
+	pm.flux_gain_IF = 0.1f;
+
+	m.Jm = 17.E-3 * 48. / 10.;
+
+	/*pm.const_im_Ld /= 1.2f;
+	pm.const_im_Lq /= 1.2f;*/
 
 	pm.fsm_req = PM_STATE_LU_STARTUP;
 	ts_wait_IDLE();
 
-	pm.s_setpoint_speed = 4000.f;
+	pm.s_setpoint_speed = 10.f;
 	sim_runtime(1.0);
 
-	//m.Udc = 30.;
-	//m.Rdc = 50.;
+	pm.s_setpoint_speed = 100.f;
+	sim_runtime(2.0);
+
+	pm.s_setpoint_speed = 2000.f;
+	sim_runtime(1.0);
 
-	pm.watt_wP_reverse = 1000.f;
-	pm.watt_uDC_maximal = 48.f;
-	//pm.watt_uDC_tol = 10.f;
+	pm.s_setpoint_speed = - 2000.f;
+	sim_runtime(2.0);
 
-	sim_runtime(0.2);
+	pm.s_setpoint_speed = 2000.f;
+	sim_runtime(2.0);
 
-	pm.s_setpoint_speed = 0.f;
-	//pm.s_track = 0.f;
-	sim_runtime(0.3);
+
 
-	//m.Rdc = 1.;
-	sim_runtime(0.5);
+	sim_runtime(3.0);
 
 	tlm_PWM_grab();
 }

bench/blm.c

@@ -51,7 +51,7 @@ void blm_enable(blm_t *m)
 	m->sol_dT = 5.E-6;	/* ODE solver step (Second) */
 
 	m->pwm_dT = 35.E-6;		/* PWM cycle (Second)    */
-	m->pwm_deadtime = 170.E-9;	/* PWM deadtime (Second) */
+	m->pwm_deadtime = 90.E-9;	/* PWM deadtime (Second) */
 	m->pwm_minimal = 50.E-9;	/* PWM minimal (Second)  */
 	m->pwm_resolution = 2940;	/* PWM resolution        */
 
@@ -61,7 +61,7 @@ void blm_enable(blm_t *m)
 
 	/* Winding resistance (Ohm).
          * */
-	m->Rs = 0.007;
+	m->Rs = 0.011;
 
 	/* Winding inductance (Henry).
          * */
@@ -100,14 +100,14 @@ void blm_enable(blm_t *m)
 	 * */
 	m->Cdc = 940.E-6;
 
-	/* Moment of inertia.
+	/* Moment of inertia (Kilogram Metre squared).
 	 * */
 	m->Jm = 5.E-3;
 
-	/* Load torque constants.
+	/* Load torque polynom.
 	 * */
 	m->Mq[0] = 0.E-3;
-	m->Mq[1] = 5.E-5;
+	m->Mq[1] = 5.E-4;
 	m->Mq[2] = 5.E-7;
 	m->Mq[3] = 5.E-2;
 
@@ -125,7 +125,7 @@ void blm_enable(blm_t *m)
 	m->range_A = 165.;	/* (Ampere) */
 	m->range_B = 60.;	/* (Volt)   */
 
-	/* Hall sensor installation angles.
+	/* Hall Sensor installation angles (Degree).
 	 * */
 	m->hall[0] = 30.7;
 	m->hall[1] = 150.1;
@@ -228,7 +228,7 @@ blm_equation(const blm_t *m, const double state[7], double y[7])
 	 * */
 	mS = state[2] / m->Zp;
 	mQ = m->Mq[0] - mS * (m->Mq[1] + fabs(mS) * m->Mq[2]);
-	mQ += (mS < 0.) ? m->Mq[3] : - m->Mq[3];
+	mQ += - mS / (1.f + fabs(mS)) * m->Mq[3];
 
 	/* Mechanical equations.
 	 * */
@@ -244,47 +244,49 @@ blm_equation(const blm_t *m, const double state[7], double y[7])
 static void
 blm_ode_step(blm_t *m, double dT)
 {
-	double		x2[7], y1[7], y2[7];
-	double		iA, iB, iC, uA, uB, uC, kA, kB, uMIN;
+	double		x0[7], y0[7], y1[7];
+
+	double		iA, iB, iC, uA, uB, uC;
+	double		kA, kB, uMIN;
 
 	/* Second-order ODE solver.
 	 * */
 
-	blm_equation(m, m->state, y1);
+	blm_equation(m, m->state, y0);
 
 	if (m->pwm_Z != BLM_Z_DETACHED) {
 
-		x2[0] = m->state[0] + y1[0] * dT;
-		x2[1] = m->state[1] + y1[1] * dT;
+		x0[0] = m->state[0] + y0[0] * dT;
+		x0[1] = m->state[1] + y0[1] * dT;
 	}
 	else {
-		x2[0] = 0.;
-		x2[1] = 0.;
+		x0[0] = 0.;
+		x0[1] = 0.;
 	}
 
-	x2[2] = m->state[2] + y1[2] * dT;
-	x2[3] = m->state[3] + y1[3] * dT;
-	x2[4] = m->state[4] + y1[4] * dT;
-	x2[5] = m->state[5] + y1[5] * dT;
-	x2[6] = m->state[6] + y1[6] * dT;
+	x0[2] = m->state[2] + y0[2] * dT;
+	x0[3] = m->state[3] + y0[3] * dT;
+	x0[4] = m->state[4] + y0[4] * dT;
+	x0[5] = m->state[5] + y0[5] * dT;
+	x0[6] = m->state[6] + y0[6] * dT;
 
-	blm_equation(m, x2, y2);
+	blm_equation(m, x0, y1);
 
 	if (m->pwm_Z != BLM_Z_DETACHED) {
 
-		m->state[0] += (y1[0] + y2[0]) * dT / 2.;
-		m->state[1] += (y1[1] + y2[1]) * dT / 2.;
+		m->state[0] += (y0[0] + y1[0]) * dT / 2.;
+		m->state[1] += (y0[1] + y1[1]) * dT / 2.;
 	}
 	else {
 		m->state[0] = 0.;
 		m->state[1] = 0.;
 	}
 
-	m->state[2] += (y1[2] + y2[2]) * dT / 2.;
-	m->state[3] += (y1[3] + y2[3]) * dT / 2.;
-	m->state[4] += (y1[4] + y2[4]) * dT / 2.;
-	m->state[5] += (y1[5] + y2[5]) * dT / 2.;
-	m->state[6] += (y1[6] + y2[6]) * dT / 2.;
+	m->state[2] += (y0[2] + y1[2]) * dT / 2.;
+	m->state[3] += (y0[3] + y1[3]) * dT / 2.;
+	m->state[4] += (y0[4] + y1[4]) * dT / 2.;
+	m->state[5] += (y0[5] + y1[5]) * dT / 2.;
+	m->state[6] += (y0[6] + y1[6]) * dT / 2.;
 
 	/* Sensor transient (FAST).
 	 * */