Hi,
This is not adding a feature, but could make further changes easier.
There is duplicate code here and here
float i_alpha, i_beta;
if(!current.c){
// if only two measured currents
i_alpha = current.a;
i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b;
}if(!current.a){
// if only two measured currents
float a = -current.c - current.b;
i_alpha = a;
i_beta = _1_SQRT3 * a + _2_SQRT3 * current.b;
}if(!current.b){
// if only two measured currents
float b = -current.a - current.c;
i_alpha = current.a;
i_beta = _1_SQRT3 * current.a + _2_SQRT3 * b;
} else {
// signal filtering using identity a + b + c = 0. Assumes measurement error is normally distributed.
float mid = (1.f/3) * (current.a + current.b + current.c);
float a = current.a - mid;
float b = current.b - mid;
i_alpha = a;
i_beta = _1_SQRT3 * a + _2_SQRT3 * b;
}
This could be made a function getAlphaBeta or getClarkTransform that uses foc currents as inputs, and returns alpha and beta.
A function getParkTransform could use the electrical angle, alpha and beta and return DQcurrents.
getDCCurrent could use the electrical angle, alpha and beta and return DCcurrent.
Eventually, foc_current torque control type in loopfoc would do:
- getPhaseCurrents
- getClarkTransform
- getParkTransform
- PI control
And dc_current torque control type in loopfoc would do:
- getPhaseCurrents
- getClarkTransform
- getDCcurrent
- PI control
Hi,
This is not adding a feature, but could make further changes easier.
There is duplicate code here and here
This could be made a function getAlphaBeta or getClarkTransform that uses foc currents as inputs, and returns alpha and beta.
A function getParkTransform could use the electrical angle, alpha and beta and return DQcurrents.
getDCCurrent could use the electrical angle, alpha and beta and return DCcurrent.
Eventually, foc_current torque control type in loopfoc would do:
And dc_current torque control type in loopfoc would do: