CurrentControl#

Toolbox for a standard CurrentControl with parallel PI-Controllers, linear decoupling and a space vector limitation. A space vector output limitation and a linear decoupling function are integrated. The decoupling function can be deactivated in the CurrentControl configuration struct.

Figure made with TikZ

Fig. 284 CurrentControl schematic

Setup#

Configuration#

In order to configure the CurrentControl, multiple configuration structs have to be initialized.

enum uz_CurrentControl_decoupling_select#

enum for readable configuring for the decoupling in the CurrentControl sample function

Values:

enumerator no_decoupling#
enumerator linear_decoupling#
enumerator static_nonlinear_decoupling#
struct uz_CurrentControl_config#

Configuration struct for CurrentControl. Accessible by the user.

Public Members

enum uz_CurrentControl_decoupling_select decoupling_select#

CurrentControl decoupling selector

no_decoupling

linear_decoupling

struct uz_PI_Controller_config config_id#

Configuration struct for id-Controller

struct uz_PI_Controller_config config_iq#

Configuration struct for iq-Controller

uz_PMSM_t config_PMSM#

Configuration struct for PMSM parameters

bool Kp_adjustment_flag#

Flag to turn the adjustment of Kp via nonlinear flux-maps (gain scheduling) on or off

float max_modulation_index#

Max possible modulation index for the chosen modulation method. I.e. 1/sqrt(3) for Space-Vector-Modulation

Example#

Listing 80 Example to initialize the configuration struct#
 1#include "uz/uz_CurrentControl/uz_CurrentControl.h"
 2int main(void) {
 3   struct uz_PMSM_t config_PMSM = {
 4      .Ld_Henry = 0.0001f,
 5      .Lq_Henry = 0.0002f,
 6      .Psi_PM_Vs = 0.008f
 7    };//these parameters are only needed if linear decoupling is selected
 8    struct uz_PI_Controller_config config_id = {
 9      .Kp = 10.0f,
10      .Ki = 10.0f,
11      .samplingTime_sec = 0.00005f
12   };
13   struct uz_PI_Controller_config config_iq = {
14      .Kp = 10.0f,
15      .Ki = 10.0f,
16      .samplingTime_sec = 0.00005f
17   };
18   struct uz_CurrentControl_config CC_config = {
19      .decoupling_select = linear_decoupling,
20      .Kp_adjustment_flag = false,
21      .config_PMSM = config_PMSM,
22      .config_id = config_id,
23      .config_iq = config_iq,
24      .max_modulation_index = 1.0f / sqrtf(3.0f)
25   };
26}

Note

The limitation of the internal PI-Controllers are deactivated, since only the Space vector limitation will be used. The limits can be left at 0 in the config.

Description#

With these config structs one can customize the CurrentControl and the included PI-Controller and PMSM config. It is possible to use the CurrentControl with or without the linear decoupling via the CurrentControl_config member decoupling_select. If no decoupling is selected, no variables for the struct uz_PMSM_t have to be configured and can be left 0. Each of the two PI-Controller need their own config struct. One for the id-Controller and the other one for the iq-Controller.

Init function#

typedef struct uz_CurrentControl_t uz_CurrentControl_t#

Object definition for CurrentControl.

uz_CurrentControl_t *uz_CurrentControl_init(struct uz_CurrentControl_config config)#

Initialization of the uz_CurrentControl object.

Parameters:

  • config – configuration struct for CurrentControl

Returns:

uz_CurrentControl_t* Pointer to uz_CurrentControl_t instance

Example#

Listing 81 Example function call to init a CurrentControl instance. config_CurrentControl according to configuration section#
1int main(void) {
2   uz_CurrentControl_t* CC_instance = uz_CurrentControl_init(CC_config);
3}

Description#

Allocates the memory for the CurrentControl instance and the included PI-Controller instances. Furthermore the input values of the configuration structs are asserted.

Reset#

void uz_CurrentControl_reset(uz_CurrentControl_t *self)#

Resets the CurrentControl and the integrators of the PI-Controllers.

Parameters:

  • self – uz_CurrentControl_t instance

Example#

Listing 82 Example function call to reset the CurrentControl. CurrentControl-Instance via init-function#
1int main(void) {
2   uz_CurrentControl_reset(CC_instance);
3}

Description#

Resets the CurrentControl and the integrated PI-Controller. The initial condition for the integrator after the reset is 0.0f.

Functions#