diff --git a/Assets/Examples/hybrid_adrc_mpcc_demo.json b/Assets/Examples/hybrid_adrc_mpcc_demo.json new file mode 100644 index 00000000..5b61e45f --- /dev/null +++ b/Assets/Examples/hybrid_adrc_mpcc_demo.json @@ -0,0 +1,4203 @@ +{ + "bridges": [ + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_A" + }, + "id": "i_a_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_A" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_B" + }, + "id": "i_b_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_B" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_C" + }, + "id": "i_c_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_C" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "LogU", + "portName": "Value" + }, + "id": "i_a_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_A" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "consumer": { + "nodeId": "LogV", + "portName": "Value" + }, + "id": "i_b_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_B" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "consumer": { + "nodeId": "LogW", + "portName": "Value" + }, + "id": "i_c_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_C" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "connections": [ + { + "from": { + "nodeId": "Clarke", + "portName": "I_Alpha" + }, + "id": "c_clarke_alpha", + "to": { + "nodeId": "Park", + "portName": "I_Alpha" + } + }, + { + "from": { + "nodeId": "Clarke", + "portName": "I_Beta" + }, + "id": "c_clarke_beta", + "to": { + "nodeId": 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"LogPredIq", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "AdrcMpcc", + "portName": "Cost" + }, + "id": "c_log_cost", + "to": { + "nodeId": "LogCost", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "AdrcMpcc", + "portName": "State_Index" + }, + "id": "c_log_state", + "to": { + "nodeId": "LogState", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "c_log_du", + "to": { + "nodeId": "LogDu", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "c_log_dv", + "to": { + "nodeId": "LogDv", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "c_log_dw", + "to": { + "nodeId": "LogDw", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c_log_theta_e", + "to": { + "nodeId": "LogThetaE", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "OmegaDeriv", + "portName": "Out" + }, + "id": "c_log_omega_e", + "to": { + "nodeId": "LogOmegaE", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "EncoderApp", + "portName": "Theta" + }, + "id": "c_log_theta", + "to": { + "nodeId": "LogTheta", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VdcApp", + "portName": "V_Dc" + }, + "id": "c_log_vdc", + "to": { + "nodeId": "LogVdc", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Motor" + }, + "id": "c_t_motor", + "to": { + "nodeId": "LogT_Motor", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv1" + }, + "id": "c_t_inv1", + "to": { + "nodeId": "LogT_Inv1", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv2" + }, + "id": "c_t_inv2", + "to": { + "nodeId": "LogT_Inv2", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv3" + }, + "id": "c_t_inv3", + "to": { + "nodeId": "LogT_Inv3", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Throttle", + "portName": "A" + }, + "id": "c_thr_a", + "to": { + "nodeId": "LogThrA", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Throttle", + "portName": "B" + }, + "id": "c_thr_b", + "to": { + "nodeId": "LogThrB", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Din1", + "portName": "Out" + }, + "id": "c_din1_led", + "to": { + "nodeId": "LedGreen", + "portName": "In" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c_theta_e", + "to": { + "nodeId": "AdrcMpcc", + "portName": "Theta_E" + } + }, + { + "from": { + "nodeId": "AdrcMpcc", + "portName": "V_Alpha" + }, + "id": "c_svpwm_valpha", + "to": { + "nodeId": "Svpwm", + "portName": "V_Alpha" + } + }, + { + "from": { + "nodeId": "AdrcMpcc", + "portName": "V_Beta" + }, + "id": "c_svpwm_vbeta", + "to": { + "nodeId": "Svpwm", + "portName": "V_Beta" + } + }, + { + "from": { + "nodeId": "VdcSense", + "portName": "V_Dc" + }, + "id": "c_svpwm_vdc", + "to": { + "nodeId": "Svpwm", + "portName": "V_Dc" + } + }, + { + "from": { + "nodeId": "CfgRs", + "portName": "Value" + }, + "to": { + "nodeId": "AdrcMpcc", + "portName": "Rs" + }, + "id": "c_cfg_rs_mpcc" + }, + { + "from": { + "nodeId": "CfgLd", + "portName": "Value" + }, + "to": { + "nodeId": "AdrcMpcc", + "portName": "Ld" + }, + "id": "c_cfg_ld_mpcc" + }, + { + "from": { + "nodeId": "CfgLq", + "portName": "Value" + }, + "to": { + "nodeId": "AdrcMpcc", + "portName": "Lq" + }, + "id": "c_cfg_lq_mpcc" + }, + { + "from": { + "nodeId": "CfgPsi", + "portName": "Value" + }, + "to": { + "nodeId": "AdrcMpcc", + "portName": "PsiF" + }, + "id": "c_cfg_psi_mpcc" + }, + { + "id": "c_logthetamech", + "from": { + "nodeId": "Encoder", + "portName": "Theta" + }, + "to": { + "nodeId": "LogThetaMech", + "portName": "Value" + } + }, + { + "id": "c_logld", + "from": { + "nodeId": "CfgLd", + "portName": "Value" + }, + "to": { + "nodeId": "LogLd", + "portName": "Value" + } + }, + { + "id": "c_loglq", + "from": { + "nodeId": "CfgLq", + "portName": "Value" + }, + "to": { + "nodeId": "LogLq", + "portName": "Value" + } + }, + { + "id": "c_logencsign", + "from": { + "nodeId": "CfgEncSign", + "portName": "Value" + }, + "to": { + "nodeId": "LogEncSign", + "portName": "Value" + } + }, + { + "id": "c_cfg_iq_slew", + "from": { + "nodeId": "CfgIqSlew", + "portName": "Value" + }, + "to": { + "nodeId": "SlewIq", + "portName": "Rate" + } + } + ], + "name": "hybrid_adrc_mpcc_demo", + "nodeTypes": [ + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Const", + "description": "Provides a constant scalar value, optionally replaced by a wired input.", + "displayName": "Constant", + "domain": "", + "id": "Values.Constant", + "inlineCode": "/* Compile-time constant (or wired value via optional In). */\nOut = Value;\n", + "inputPorts": [ + { + "description": "Optional value that replaces the configured constant when wired.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Configured constant or the value supplied through In.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback storage for the optional In port.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Constant value emitted when no input overrides it.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Log", + "description": "Publishes a scalar value to runtime telemetry under a configurable key.", + "displayName": "Telemetry Log", + "domain": "", + "id": "Debug.TelemetryLog", + "inlineCode": "platform_telemetry_log_f32(Key, Value);\n", + "inputPorts": [ + { + "description": "Scalar value to publish.", + "direction": "input", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Key": { + "description": "Telemetry channel name used when publishing the value.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PwmOut", + "description": "Applies three phase-duty commands to the platform PWM peripheral.", + "displayName": "PWM Out", + "domain": "tim_isr", + "id": "Actuators.PwmOut", + "inlineCode": "platform_pwm_set(Duty_A, Duty_B, Duty_C);\n", + "inputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "input", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "input", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "input", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanRx", + "description": "Reads the latest frame from a configured CAN receive mailbox and exposes its payload.", + "displayName": "CAN RX", + "domain": "", + "id": "Sensors.CanRx", + "inlineCode": "/* CAN receive mailbox for Id on Bus (1=A/FDCAN1, 2=B/FDCAN2).\n * Fresh is true for one step when a new frame arrived; Dlc/bytes hold the\n * latest payload otherwise. */\nuint8_t buf[8] = {};\nuint32_t seq = 0;\nconst int dlc = platform_can_rx(static_cast(Bus),\n static_cast(Id), buf, &seq);\nFresh = (seq != LastSeq);\nLastSeq = static_cast(seq);\nif (dlc > 0) {\n Dlc = static_cast(dlc);\n D0 = buf[0]; D1 = buf[1]; D2 = buf[2]; D3 = buf[3];\n D4 = buf[4]; D5 = buf[5]; D6 = buf[6]; D7 = buf[7];\n} else {\n Dlc = 0.0f;\n}\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Most recently received payload byte 0.", + "direction": "output", + "name": "D0", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 1.", + "direction": "output", + "name": "D1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 2.", + "direction": "output", + "name": "D2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 3.", + "direction": "output", + "name": "D3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 4.", + "direction": "output", + "name": "D4", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 5.", + "direction": "output", + "name": "D5", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 6.", + "direction": "output", + "name": "D6", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 7.", + "direction": "output", + "name": "D7", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Data length of the latest received frame.", + "direction": "output", + "name": "Dlc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True for one execution step when a new frame has arrived.", + "direction": "output", + "name": "Fresh", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier accepted by the receive mailbox.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastSeq": { + "description": "Internal sequence counter used to detect newly received frames.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PhaseVoltages", + "description": "Reads the filtered three-phase and DC-link voltage sensor channels.", + "displayName": "Phase Voltages", + "domain": "", + "id": "Sensors.PhaseVoltages", + "inlineCode": "/* All voltage sense channels from the MAX22530 isolated ADC, filtered. */\nV_U = rte::Volts(platform_phase_voltage_u());\nV_V = rte::Volts(platform_phase_voltage_v());\nV_W = rte::Volts(platform_phase_voltage_w());\nV_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Measured phase U voltage in volts.", + "direction": "output", + "name": "V_U", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase V voltage in volts.", + "direction": "output", + "name": "V_V", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase W voltage in volts.", + "direction": "output", + "name": "V_W", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvPark", + "description": "Rotates d-q voltage commands into stationary alpha-beta coordinates.", + "displayName": "Inverse Park Transform", + "domain": "", + "id": "Transforms.InversePark", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nV_Alpha = V_D * cos_theta - V_Q * sin_theta;\nV_Beta = V_D * sin_theta + V_Q * cos_theta;\n", + "inputPorts": [ + { + "description": "Rotating-frame direct-axis voltage.", + "direction": "input", + "name": "V_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Rotating-frame quadrature-axis voltage.", + "direction": "input", + "name": "V_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "output", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "output", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Din", + "description": "Reads a boolean level from one of the platform user digital inputs.", + "displayName": "Digital In", + "domain": "", + "id": "Sensors.DigitalIn", + "inlineCode": "/* User digital input. Pin 1..8 -> USER_DIN_1..8 (see platform_api.h). */\nOut = platform_digital_read(static_cast(Pin));\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current logic level of the selected digital input.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Pin": { + "description": "User digital input selector in the range 1 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Dout", + "description": "Writes a boolean signal to a user digital output or onboard status LED.", + "displayName": "Digital Out", + "domain": "", + "id": "Actuators.DigitalOut", + "inlineCode": "/* User digital output. Pin 1..4 -> USER_DOUT_1..4, 5 -> green LED,\n * 6 -> orange LED (see platform_api.h). */\nplatform_digital_write(static_cast(Pin), In);\n", + "inputPorts": [ + { + "description": "Logic level to write to the selected output.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Pin": { + "description": "Output selector: 1-4 are user digital outputs, 5 is the green LED, and 6 is the orange LED.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ForcedAngle", + "description": "Generates a continuously advancing electrical angle for open-loop control.", + "displayName": "Forced Angle", + "domain": "", + "id": "Transforms.ForcedAngle", + "inlineCode": "Angle += RateRadPerS * Dt;\nif (Angle >= 6.28318530718f) Angle -= 6.28318530718f;\nThetaElec = Angle;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Generated electrical angle wrapped to one revolution.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Angle": { + "description": "Persistent generated angle state in radians.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "RateRadPerS": { + "description": "Electrical angular velocity in radians per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Pi", + "description": "Proportional-integral controller with output clamping and back-calculation anti-windup.", + "displayName": "PI Controller", + "domain": "", + "id": "Control.Pi", + "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic limit derived from DC-link voltage, matching the base image's\n * VectorPIController convention: max = Vdc/sqrt(3) * 0.95. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", + "inputPorts": [ + { + "description": "Desired target value.", + "direction": "input", + "name": "Setpoint", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Measured process value subtracted from the setpoint.", + "direction": "input", + "name": "Measurement", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Clamped PI control effort.", + "direction": "output", + "name": "Output", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "AwGain": { + "description": "Back-calculation anti-windup gain. Zero disables anti-windup.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Controller step period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Integral": { + "description": "Persistent accumulated-error state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ki": { + "description": "Integral gain applied to the accumulated error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Kp": { + "description": "Proportional gain applied to the current error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMax": { + "description": "Upper output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMin": { + "description": "Lower output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Throttle", + "description": "Reads the redundant throttle channels and their plausibility status.", + "displayName": "Throttle", + "domain": "", + "id": "Sensors.Throttle", + "inlineCode": "/* Dual throttle channels, normalized [0..1] by the base-image driver\n * (KV calibration Hw.ThrA/B.MinV/MaxV). Both read 0 and Valid is false\n * while the channels disagree beyond the plausibility tolerance. */\nA = platform_get_throttle_a();\nB = platform_get_throttle_b();\nValid = platform_get_throttle_valid();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Normalized throttle channel A in the range 0 to 1.", + "direction": "output", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized throttle channel B in the range 0 to 1.", + "direction": "output", + "name": "B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True when both throttle channels pass the plausibility check.", + "direction": "output", + "name": "Valid", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Temps", + "description": "Reads the motor and three inverter temperature channels from the application sensors.", + "displayName": "Temperatures", + "domain": "", + "id": "Sensors.Temperatures", + "inlineCode": "/* Motor + board temperatures from the base-image ApplicationSensors driver.\n * NAN while a channel is disabled or out of range (open/short). */\nT_Motor = rte::Celsius(platform_get_motor_temperature());\nT_Inv1 = rte::Celsius(platform_get_inverter_temperature(0));\nT_Inv2 = rte::Celsius(platform_get_inverter_temperature(1));\nT_Inv3 = rte::Celsius(platform_get_inverter_temperature(2));\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.", + "direction": "output", + "name": "T_Motor", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Greater", + "description": "Compares two scalar values and reports whether A is greater than B.", + "displayName": "Greater Than", + "domain": "", + "id": "Logic.Greater", + "inlineCode": "Out = (A > B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is greater than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "VdcSense", + "description": "Reads the inverter DC-link voltage from the platform sensor interface.", + "displayName": "DC Link Voltage", + "domain": "", + "id": "Sensors.DcLinkVoltage", + "inlineCode": "V_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SwitchToDuty", + "description": "Converts inverter switch states (0/1) to PWM duty cycles (0%/100%).", + "displayName": "Switch States to Duty", + "domain": "tim_isr", + "id": "Transforms.SwitchToDuty", + "inlineCode": "Duty_A = S_A * 100.0f;\nDuty_B = S_B * 100.0f;\nDuty_C = S_C * 100.0f;\n", + "inputPorts": [ + { + "description": "Phase A high-side switch state (1 = on).", + "direction": "input", + "name": "S_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Phase B high-side switch state (1 = on).", + "direction": "input", + "name": "S_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Phase C high-side switch state (1 = on).", + "direction": "input", + "name": "S_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Phase A PWM duty cycle (0-100%).", + "direction": "output", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty cycle (0-100%).", + "direction": "output", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty cycle (0-100%).", + "direction": "output", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Deriv", + "description": "Estimates a signal derivative with an optional first-order low-pass filter.", + "displayName": "Derivative", + "domain": "", + "id": "Transforms.Derivative", + "inlineCode": "/* Filtered derivative: Out ~= d(In)/dt, low-passed at Fc [Hz] to keep\n * sampling noise out of the estimate (Fc <= 0 disables filtering).\n * Prev/OutState are persistent state (leave at graph defaults).\n *\n * Unwrap > 0.5: treat In as an angle in radians and wrap (In-Prev) into\n * (-pi, pi] before dividing by Dt. Required for Theta_E \u2192 \u03c9_e; without it\n * every 2\u03c0 wrap injects a ~\u00b12\u03c0/Dt spike (HybridADRCMPC-4 current spikes).\n */\nfloat d_in = In - Prev;\nif (Unwrap > 0.5f) {\n const float pi = 3.14159265359f;\n const float two_pi = 6.28318530718f;\n d_in = fmodf(d_in + pi, two_pi);\n if (d_in < 0.0f) d_in += two_pi;\n d_in -= pi;\n}\nconst float raw = d_in / Dt;\nPrev = In;\nif (Fc > 0.0f) {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * Fc * Dt));\n OutState += alpha * (raw - OutState);\n} else {\n OutState = raw;\n}\nOut = OutState;\n", + "inputPorts": [ + { + "description": "Signal whose time derivative is estimated.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Filtered derivative estimate.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Sample period in seconds.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Fc": { + "description": "Low-pass cutoff frequency in hertz. Values at or below zero disable filtering.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Prev": { + "description": "Persistent previous input sample used by the finite difference.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "OutState": { + "description": "Persistent filtered derivative state.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Unwrap": { + "description": "If >0.5, wrap (In-Prev) into (-pi, pi] before differentiating (use for electrical/mechanical angle).", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Encoder", + "description": "Reads the latest mechanical rotor angle and motor speed from the encoder driver.", + "displayName": "Encoder", + "domain": "", + "id": "Sensors.Encoder", + "inlineCode": "/* Mechanical angle [rad] and speed [rpm] from the base-image encoder driver. */\nTheta = platform_get_encoder_angle_latest() * 0.01745329251f; // deg -> rad\nOmega = platform_get_motor_rpm();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "output", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Mechanical motor speed in revolutions per minute.", + "direction": "output", + "name": "Omega", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Svpwm", + "description": "Converts an alpha-beta voltage vector into centered three-phase PWM duty commands.", + "displayName": "Space Vector PWM", + "domain": "", + "id": "Transforms.Svpwm", + "inlineCode": "/* Clamp the alpha/beta voltage vector to the linear SVM limit.\n * The maximum line-to-neutral voltage magnitude for linear modulation is\n * Vdc / sqrt(3). Use a small margin to stay away from the overmodulation\n * boundary. */\nconst float sqrt3 = 1.7320508075688772f;\nconst float v_max_linear = (V_Dc.in(au::volts) / sqrt3) * 0.95f;\nfloat valpha = V_Alpha.in(au::volts);\nfloat vbeta = V_Beta.in(au::volts);\nconst float v_albe_sq = valpha * valpha + vbeta * vbeta;\nif (v_albe_sq > v_max_linear * v_max_linear && v_albe_sq > 1e-12f) {\n const float scale = v_max_linear / sqrtf(v_albe_sq);\n valpha *= scale;\n vbeta *= scale;\n}\n\n/* Inverse Clarke: alpha/beta -> A/B/C. */\nconst float v_a = valpha / V_Dc.in(au::volts);\nconst float v_b = (-0.5f * valpha + 0.86602540378f * vbeta) / V_Dc.in(au::volts);\nconst float v_c = (-0.5f * valpha - 0.86602540378f * vbeta) / V_Dc.in(au::volts);\n\nfloat v_min = v_a;\nif (v_b < v_min) v_min = v_b;\nif (v_c < v_min) v_min = v_c;\n\nfloat v_max = v_a;\nif (v_b > v_max) v_max = v_b;\nif (v_c > v_max) v_max = v_c;\n\nconst float v_offset = 0.5f * (v_min + v_max);\n\n/* Convert to percent duty and clamp. Linear SVM stays roughly in\n * [21%, 79%]; clamping to [0,100] only catches numerical edge cases. */\nfloat duty_a_pct = 50.0f + 50.0f * (v_a - v_offset);\nfloat duty_b_pct = 50.0f + 50.0f * (v_b - v_offset);\nfloat duty_c_pct = 50.0f + 50.0f * (v_c - v_offset);\n\nif (duty_a_pct < 0.0f) duty_a_pct = 0.0f; else if (duty_a_pct > 100.0f) duty_a_pct = 100.0f;\nif (duty_b_pct < 0.0f) duty_b_pct = 0.0f; else if (duty_b_pct > 100.0f) duty_b_pct = 100.0f;\nif (duty_c_pct < 0.0f) duty_c_pct = 0.0f; else if (duty_c_pct > 100.0f) duty_c_pct = 100.0f;\n\nDuty_A = duty_a_pct;\nDuty_B = duty_b_pct;\nDuty_C = duty_c_pct;\n", + "inputPorts": [ + { + "description": "Requested stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Requested stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage used for normalization and modulation limiting.", + "direction": "input", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "output", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "output", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "output", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a scalar value and updates it when the Set input is true.", + "displayName": "Var", + "domain": "", + "id": "Values.Var", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New scalar value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored scalar value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent scalar storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mpcc", + "description": "Finite-control-set model-predictive current control for a three-phase PMSM.", + "displayName": "FCS-MPCC (Three-Phase PMSM)", + "domain": "tim_isr", + "id": "Control.Mpcc", + "inlineCode": "/* Predictive current control for three-phase PMSM (Zhang et al., IEEE TIA 2017).\n * Mode: 0=Conventional FCS (full vector / period) \u2014 NOT for Gen6 low-L\n * 1=Delay-compensated FCS\n * 2=Back-EMF path (same predictor hook as 1 for now)\n * 3=Deadbeat voltage \u2192 SVPWM \u2190 use this on Gen6 to spin\n *\n * Mode 3 matches the FOC voltage path (V\u03b1\u03b2 \u2192 Transforms.Svpwm \u2192 PwmOut) but\n * replaces PI with a one-step predictive / deadbeat voltage law:\n * v_dq = R i + \u03c9 cross terms + (L/Ts)(i* - i_pred)\n * Tuned for smooth mid-bus Gen6 spin (\u224850\u2013100 V): milder deadbeat,\n * current LPF (noise tolerance), longer soft-start. abs(Id_ref) and abs(Iq_ref) limited by\n * I_Max only. Holds if Vdc < 40 V. Under voltage limit, prefer Iq (torque).\n */\n\nstatic float mpcc_prev_sa = 0.0f;\nstatic float mpcc_prev_sb = 0.0f;\nstatic float mpcc_prev_sc = 0.0f;\nstatic float mpcc_u_alpha_prev = 0.0f;\nstatic float mpcc_u_beta_prev = 0.0f;\nstatic float mpcc_id_int = 0.0f;\nstatic float mpcc_iq_int = 0.0f;\nstatic float mpcc_enable_s = 0.0f;\nstatic float mpcc_id_f = 0.0f;\nstatic float mpcc_iq_f = 0.0f;\nstatic float mpcc_i_filt_init = 0.0f;\n\nconst float ts = Ts;\nfloat rs = Rs;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat psi_f = PsiF;\nif (!(rs > 0.0f)) rs = 0.1f;\nif (!(ld > 1.0e-7f)) ld = 0.0001f;\nif (!(lq > 1.0e-7f)) lq = 0.0002f;\nif (!(psi_f >= 0.0f)) psi_f = 0.01f;\n/* Allow calibrated Gen6 flux (~0.07 Wb); old 0.05 clamp starved back-EMF FF. */\nif (psi_f > 0.15f) psi_f = 0.15f;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 10.0f;\nconst float i_max = (I_Max > 0.0f) ? I_Max : 30.0f;\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref = I_Q_Ref;\nconst float theta_e = Theta_E;\nfloat omega_e = Omega_E;\n/* Cover FOC-class speeds: 2000 rpm @ 10 poles => \u03c9e\u22481047 rad/s. */\nconst float w_max = 3000.0f;\nif (omega_e > w_max) omega_e = w_max;\nif (omega_e < -w_max) omega_e = -w_max;\n\nconst bool enable = Enable;\nconst int mode_i = (Mode >= 3.0f) ? 3 : ((Mode >= 2.0f) ? 2 : ((Mode >= 1.0f) ? 1 : 0));\n\nconst float two_thirds = 2.0f / 3.0f;\nconst float inv_sqrt3 = 0.57735026919f;\nconst float sqrt3 = 1.73205080757f;\nconst int switch_bits[8][3] = {\n {0, 0, 0}, {1, 0, 0}, {1, 1, 0}, {0, 1, 0},\n {0, 1, 1}, {0, 0, 1}, {1, 0, 1}, {1, 1, 1}\n};\n\n/* Clamp |Id*| and |Iq*| to I_Max \u2014 no hidden Vdc-based ceiling. */\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\n/* Hold output unless enabled with a usable DC bus (smooth-spin guard). */\nconst bool bus_ok = (vdc >= 40.0f);\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n mpcc_prev_sa = 0.0f;\n mpcc_prev_sb = 0.0f;\n mpcc_prev_sc = 0.0f;\n mpcc_u_alpha_prev = 0.0f;\n mpcc_u_beta_prev = 0.0f;\n mpcc_id_int = 0.0f;\n mpcc_iq_int = 0.0f;\n mpcc_enable_s = 0.0f;\n mpcc_id_f = id_raw;\n mpcc_iq_f = iq_raw;\n mpcc_i_filt_init = 0.0f;\n} else if (mode_i == 3) {\n /* -------- Deadbeat predictive voltage \u2192 SVPWM (Gen6 spin path) -------- */\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n /* LPF measured currents before deadbeat (~500 Hz). Reduces hiss from\n * ADC/quantization noise on low-L Gen6 without killing torque response. */\n if (mpcc_i_filt_init < 0.5f) {\n mpcc_id_f = id_raw;\n mpcc_iq_f = iq_raw;\n mpcc_i_filt_init = 1.0f;\n } else {\n const float fc = 500.0f;\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * fc * ts));\n mpcc_id_f += alpha * (id_raw - mpcc_id_f);\n mpcc_iq_f += alpha * (iq_raw - mpcc_iq_f);\n }\n const float id = mpcc_id_f;\n const float iq = mpcc_iq_f;\n\n /* Delay compensation: predict i(k+1) under the voltage applied last step. */\n const float vd_prev = mpcc_u_alpha_prev * cos_t + mpcc_u_beta_prev * sin_t;\n const float vq_prev = -mpcc_u_alpha_prev * sin_t + mpcc_u_beta_prev * cos_t;\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n /* Longer soft-start so enable does not dump full deadbeat voltage. */\n const float ramp_s = 0.25f;\n mpcc_enable_s += ts;\n if (mpcc_enable_s > ramp_s) mpcc_enable_s = ramp_s;\n const float ramp = mpcc_enable_s / ramp_s;\n\n /* Soft |i| limit \u2014 scale only the feedback/integral terms, keep FF. */\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n float fb_scale = ramp;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n if (i_meas > 1.0e-3f) {\n fb_scale *= i_max / i_meas;\n }\n }\n\n /* Mild deadbeat with filtered currents (less hiss than raw 0.70). */\n const float db_scale = 0.40f;\n const float kp_d = (ld / ts) * db_scale;\n const float kp_q = (lq / ts) * db_scale;\n /* Weak integral \u2014 deadbeat already provides most of the action. */\n const float ki = 3.0f;\n\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n const float v_max = (vdc / sqrt3) * 0.95f;\n const float i_lim_v = v_max * 0.5f; /* keep integral from eating the voltage budget */\n\n /* Feedforward (plant inversion) \u2014 not scaled by overcurrent shrink. */\n const float vd_ff = rs * id_p - omega_e * lq * iq_p;\n const float vq_ff = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f;\n\n float vd_fb = kp_d * id_err + mpcc_id_int;\n float vq_fb = kp_q * iq_err + mpcc_iq_int;\n vd_fb *= fb_scale;\n vq_fb *= fb_scale;\n\n float vd_ref = vd_ff * ramp + vd_fb;\n float vq_ref = vq_ff * ramp + vq_fb;\n\n /* Voltage limit: keep as much Vq (torque) as possible, shed Vd first.\n * Matches FOC field-weakening behaviour at low Vdc. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n const bool sat = (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f);\n if (sat) {\n if (fabsf(vq_ref) >= v_max) {\n vq_ref = (vq_ref >= 0.0f) ? v_max : -v_max;\n vd_ref = 0.0f;\n } else {\n const float vd_lim = sqrtf(v_max * v_max - vq_ref * vq_ref);\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n }\n /* Freeze / bleed integrators under saturation (anti-windup). */\n mpcc_id_int *= 0.90f;\n mpcc_iq_int *= 0.90f;\n } else {\n mpcc_id_int += ki * id_err * ts;\n mpcc_iq_int += ki * iq_err * ts;\n if (mpcc_id_int > i_lim_v) mpcc_id_int = i_lim_v;\n if (mpcc_id_int < -i_lim_v) mpcc_id_int = -i_lim_v;\n if (mpcc_iq_int > i_lim_v) mpcc_iq_int = i_lim_v;\n if (mpcc_iq_int < -i_lim_v) mpcc_iq_int = -i_lim_v;\n }\n\n /* Inverse Park \u2014 same convention as Transforms.InversePark. */\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n /* Sector index for telemetry only (PWM comes from SVPWM on V\u03b1\u03b2). */\n int best_idx = 1;\n float best_dist = 1.0e30f;\n for (int idx = 1; idx <= 6; ++idx) {\n const float sa = static_cast(switch_bits[idx][0]);\n const float sb = static_cast(switch_bits[idx][1]);\n const float sc = static_cast(switch_bits[idx][2]);\n const float ua = two_thirds * vdc * (sa - 0.5f * (sb + sc));\n const float ub = vdc * inv_sqrt3 * (sb - sc);\n const float dist = (ua - valpha_ref) * (ua - valpha_ref)\n + (ub - vbeta_ref) * (ub - vbeta_ref);\n if (dist < best_dist) {\n best_dist = dist;\n best_idx = idx;\n }\n }\n\n const float pred_id = id_p + (ts / ld) * (vd_ref - rs * id_p + omega_e * lq * iq_p);\n const float pred_iq = iq_p + (ts / lq) * (vq_ref - rs * iq_p - omega_e * ld * id_p - omega_e * psi_f);\n\n S_A = static_cast(switch_bits[best_idx][0]);\n S_B = static_cast(switch_bits[best_idx][1]);\n S_C = static_cast(switch_bits[best_idx][2]);\n State_Index = static_cast(best_idx);\n Pred_I_D = rte::Amperes(pred_id);\n Pred_I_Q = rte::Amperes(pred_iq);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n mpcc_prev_sa = S_A;\n mpcc_prev_sb = S_B;\n mpcc_prev_sc = S_C;\n mpcc_u_alpha_prev = valpha_ref;\n mpcc_u_beta_prev = vbeta_ref;\n} else {\n /* -------- Classic FCS enumeration (Modes 0\u20132) -------- */\n const float id = id_raw;\n const float iq = iq_raw;\n float id_base = id;\n float iq_base = iq;\n if (mode_i >= 1) {\n /* Proper dq delay compensation using last applied \u03b1\u03b2 voltage. */\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n const float vd_prev = mpcc_u_alpha_prev * cos_t + mpcc_u_beta_prev * sin_t;\n const float vq_prev = -mpcc_u_alpha_prev * sin_t + mpcc_u_beta_prev * cos_t;\n id_base = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n iq_base = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n }\n\n float best_cost = 1.0e30f;\n int best_idx = 0;\n float best_pred_id = id;\n float best_pred_iq = iq;\n float best_valpha = 0.0f;\n float best_vbeta = 0.0f;\n\n for (int idx = 0; idx < 8; ++idx) {\n const float sa = static_cast(switch_bits[idx][0]);\n const float sb = static_cast(switch_bits[idx][1]);\n const float sc = static_cast(switch_bits[idx][2]);\n const float valpha = two_thirds * vdc * (sa - 0.5f * (sb + sc));\n const float vbeta = vdc * inv_sqrt3 * (sb - sc);\n\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n const float vd = valpha * cos_t + vbeta * sin_t;\n const float vq = -valpha * sin_t + vbeta * cos_t;\n\n const float pred_id = id_base + (ts / ld) * (vd - rs * id_base + omega_e * lq * iq_base);\n const float pred_iq = iq_base + (ts / lq) * (vq - rs * iq_base - omega_e * ld * id_base - omega_e * psi_f);\n\n float cost = ((id_ref - pred_id) / i_base) * ((id_ref - pred_id) / i_base)\n + ((iq_ref - pred_iq) / i_base) * ((iq_ref - pred_iq) / i_base);\n const float imag = sqrtf(pred_id * pred_id + pred_iq * pred_iq);\n if (imag > i_max) cost += 1.0e6f;\n\n const int trans = ((sa != mpcc_prev_sa) ? 1 : 0)\n + ((sb != mpcc_prev_sb) ? 1 : 0)\n + ((sc != mpcc_prev_sc) ? 1 : 0);\n const int best_trans =\n ((switch_bits[best_idx][0] != static_cast(mpcc_prev_sa)) ? 1 : 0)\n + ((switch_bits[best_idx][1] != static_cast(mpcc_prev_sb)) ? 1 : 0)\n + ((switch_bits[best_idx][2] != static_cast(mpcc_prev_sc)) ? 1 : 0);\n\n if (cost < best_cost - 1.0e-9f\n || (fabsf(cost - best_cost) <= 1.0e-9f\n && (trans < best_trans || (trans == best_trans && idx < best_idx)))) {\n best_cost = cost;\n best_idx = idx;\n best_pred_id = pred_id;\n best_pred_iq = pred_iq;\n best_valpha = valpha;\n best_vbeta = vbeta;\n }\n }\n\n S_A = static_cast(switch_bits[best_idx][0]);\n S_B = static_cast(switch_bits[best_idx][1]);\n S_C = static_cast(switch_bits[best_idx][2]);\n State_Index = static_cast(best_idx);\n Pred_I_D = rte::Amperes(best_pred_id);\n Pred_I_Q = rte::Amperes(best_pred_iq);\n Cost = best_cost;\n V_Alpha = rte::Volts(best_valpha);\n V_Beta = rte::Volts(best_vbeta);\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n V_D = rte::Volts(best_valpha * cos_t + best_vbeta * sin_t);\n V_Q = rte::Volts(-best_valpha * sin_t + best_vbeta * cos_t);\n\n mpcc_prev_sa = S_A;\n mpcc_prev_sb = S_B;\n mpcc_prev_sc = S_C;\n mpcc_u_alpha_prev = best_valpha;\n mpcc_u_beta_prev = best_vbeta;\n}\n", + "inputPorts": [ + { + "name": "I_D", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured d-axis current in amperes." + }, + { + "name": "I_Q", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured q-axis current in amperes." + }, + { + "name": "I_D_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "I_D_Ref (amperes as dimensionless, same as Values.Var / FOC setpoints)." + }, + { + "name": "I_Q_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "I_Q_Ref (amperes as dimensionless, same as Values.Var / FOC setpoints)." + }, + { + "name": "Theta_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor angle in radians." + }, + { + "name": "Omega_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor speed in radians per second." + }, + { + "name": "V_Dc", + "direction": "input", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "DC-link voltage in volts." + }, + { + "name": "Enable", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Controller enable (1 = run, 0 = hold previous switch states)." + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "name": "S_A", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Phase A high-side switch state." + }, + { + "name": "S_B", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Phase B high-side switch state." + }, + { + "name": "S_C", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Phase C high-side switch state." + }, + { + "name": "State_Index", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected switching-state index (0-7)." + }, + { + "name": "Pred_I_D", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted d-axis current for the selected state." + }, + { + "name": "Pred_I_Q", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted q-axis current for the selected state." + }, + { + "name": "Cost", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Cost of the selected switching state." + }, + { + "name": "V_Alpha", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, alpha component." + }, + { + "name": "V_Beta", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, beta component." + }, + { + "name": "V_D", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, d component." + }, + { + "name": "V_Q", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, q component." + } + ], + "parameterTypes": { + "Ts": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Control sample period in seconds." + }, + "Rs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Stator phase resistance in ohms." + }, + "Ld": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "d-axis inductance in henrys." + }, + "Lq": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "q-axis inductance in henrys." + }, + "PsiF": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Permanent-magnet flux linkage in webers." + }, + "I_Base": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Current normalization base in amperes." + }, + "I_Max": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Soft current limit in amperes." + }, + "Mode": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "MPCC mode: 0=one-step, 1=delay-compensated, 2=back-EMF-compensated, 3=optimal-duty-cycle." + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Gate", + "description": "Passes a value when enabled and outputs zero when disabled.", + "displayName": "Gate", + "domain": "", + "id": "Logic.Gate", + "inlineCode": "/* Pass Val when Sel is true, else 0. */\nOut = Sel ? Val : 0.0f;\n", + "inputPorts": [ + { + "description": "Enable signal. True passes Val; false selects zero.", + "direction": "input", + "name": "Sel", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Value passed through while Sel is true.", + "direction": "input", + "name": "Val", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Val when selected, otherwise zero.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a boolean value and updates it when the Set input is true.", + "displayName": "Var (Bool)", + "domain": "", + "id": "Values.VarBool", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New boolean value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored boolean value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new boolean value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent boolean storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Slew", + "description": "Limits how quickly a signal can rise or fall over time.", + "displayName": "Slew Rate Limiter", + "domain": "", + "id": "Control.Slew", + "inlineCode": "/* Rate-limited reference follower: Out tracks In at max Rate units/sec.\n * On control start Value resets to the graph default, so references ramp\n * smoothly from zero instead of stepping. */\nconst float target = In;\nconst float step = Rate * Dt;\nfloat v = Value;\nif (target > v + step) {\n v += step;\n} else if (target < v - step) {\n v -= step;\n} else {\n v = target;\n}\nValue = v;\nOut = Value;\n", + "inputPorts": [ + { + "description": "Target value for the limiter to follow.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rate-limited output value.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum absolute rate of change in units per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Persistent current output state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ElecAngle", + "description": "Converts mechanical rotor angle to wrapped electrical angle using pole count, direction, and offset.", + "displayName": "Electrical Angle", + "domain": "", + "id": "Transforms.ElecAngle", + "inlineCode": "/* Wrap the mechanical encoder angle to [0, 2*pi). */\nconst float two_pi = 6.28318530718f;\nfloat theta = fmodf(ThetaMech, two_pi);\nif (theta < 0.0f) theta += two_pi;\n\n/* Electrical angle = offset (elec deg) + sign * encoder_angle * (Poles / 2).\n * Matches the base-image FocController convention.\n *\n * Guard bad FRAM/config values that freeze \u03b8e at 0:\n * - Poles<=0 \u2192 fall back to 10\n * - |Sign|<0.5 \u2192 fall back to +1 (Sign=0 nulls the encoder term) */\nconstexpr float DEG_TO_RAD = 0.01745329251f;\nfloat poles = Poles;\nif (!(poles > 0.5f)) poles = 10.0f;\nfloat sign = EncoderSign;\nif (fabsf(sign) < 0.5f) sign = 1.0f;\nfloat offset_deg = OffsetDeg;\nfloat elec = offset_deg * DEG_TO_RAD + sign * theta * poles * 0.5f;\n\n/* Wrap the electrical angle to [0, 2*pi). */\nelec = fmodf(elec, two_pi);\nif (elec < 0.0f) elec += two_pi;\n\nThetaElec = elec;\n", + "inputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "input", + "name": "ThetaMech", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Electrical-angle calibration offset in degrees.", + "direction": "input", + "name": "OffsetDeg", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Encoder direction multiplier, normally 1 or -1.", + "direction": "input", + "name": "EncoderSign", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Motor pole count used to convert mechanical to electrical angle.", + "direction": "input", + "name": "Poles", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Electrical rotor angle wrapped to the range 0 through 2\u03c0 radians.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "EncoderSign": { + "description": "Fallback encoder direction multiplier when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OffsetDeg": { + "description": "Fallback electrical-angle calibration offset in degrees when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Poles": { + "description": "Fallback motor pole count when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "id": "Sensors.PhaseCurrents", + "displayName": "Phase Currents", + "defaultName": "PhaseCurrents", + "description": "Samples the three inverter phase-current channels from the platform current sensors.", + "maxInstances": 1, + "isEntryPoint": true, + "domain": "", + "inputPorts": [], + "outputPorts": [ + { + "name": "I_A", + "description": "Measured phase A current in amperes.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "I_B", + "description": "Measured phase B current in amperes.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "I_C", + "description": "Measured phase C current in amperes.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "parameterTypes": { + "InvertPolarity": { + "description": "Negate all three phase currents to match the FOC sign convention on hardware with inverted current sensors.", + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + } + }, + "inlineCode": "float iu_f = 0.0f;\nfloat iv_f = 0.0f;\nfloat iw_f = 0.0f;\nif (platform_get_phase_currents(&iu_f, &iv_f, &iw_f)) {\n /* Keep raw sensor polarity available for general telemetry, while FOC\n * graphs enable inversion for this hardware's current-sensor wiring. */\n const float polarity = InvertPolarity ? -1.0f : 1.0f;\n I_A = rte::Amperes(polarity * iu_f);\n I_B = rte::Amperes(polarity * iv_f);\n I_C = rte::Amperes(polarity * iw_f);\n}\n", + "constructorCode": "", + "classHeader": "", + "classDefinition": "" + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SinCos", + "description": "Computes the sine and cosine of an input angle.", + "displayName": "Sin/Cos", + "domain": "", + "id": "Transforms.SinCos", + "inlineCode": "SinTheta = sinf(Theta);\nCosTheta = cosf(Theta);\n", + "inputPorts": [ + { + "description": "Input angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Sine of the input angle.", + "direction": "output", + "name": "SinTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Cosine of the input angle.", + "direction": "output", + "name": "CosTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Park", + "description": "Rotates stationary alpha-beta currents into rotor-aligned d-q coordinates.", + "displayName": "Park Transform", + "domain": "", + "id": "Transforms.Park", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nI_D = I_Alpha * cos_theta + I_Beta * sin_theta;\nI_Q = -I_Alpha * sin_theta + I_Beta * cos_theta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "input", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "input", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rotating-frame direct-axis current.", + "direction": "output", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Rotating-frame quadrature-axis current.", + "direction": "output", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "LogI", + "description": "Publishes three phase-current signals to the standard current telemetry channels.", + "displayName": "Telemetry Current Sink", + "domain": "", + "id": "Debug.TelemetryCurrentSink", + "inlineCode": "platform_telemetry_log_f32(\"cg_iu_a\", I_A.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iv_a\", I_B.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iw_a\", I_C.in(au::amperes));\n", + "inputPorts": [ + { + "description": "Phase A current to publish in amperes.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current to publish in amperes.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current to publish in amperes.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Clarke", + "description": "Transforms three-phase currents into stationary alpha-beta coordinates.", + "displayName": "Clarke Transform", + "domain": "", + "id": "Transforms.Clarke", + "inlineCode": "I_Alpha = I_A;\nI_Beta = (I_B - I_C) * 0.57735026919f;\n", + "inputPorts": [ + { + "description": "Phase A current.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "output", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "output", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Less", + "description": "Compares two scalar values and reports whether A is less than B.", + "displayName": "Less Than", + "domain": "", + "id": "Logic.Less", + "inlineCode": "Out = (A < B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is less than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvClarke", + "description": "Transforms stationary alpha-beta voltages into three-phase voltage commands.", + "displayName": "Inverse Clarke Transform", + "domain": "", + "id": "Transforms.InverseClarke", + "inlineCode": "V_A = V_Alpha;\nV_B = -0.5f * V_Alpha + 0.86602540378f * V_Beta;\nV_C = -0.5f * V_Alpha - 0.86602540378f * V_Beta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Reconstructed phase A voltage.", + "direction": "output", + "name": "V_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase B voltage.", + "direction": "output", + "name": "V_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase C voltage.", + "direction": "output", + "name": "V_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n", + "defaultName": "Cfg", + "description": "Exposes a named configuration value, using a default when no stored value is available.", + "displayName": "Config Value", + "domain": "", + "id": "Values.Config", + "inlineCode": "Value = Cached;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Cached configuration value supplied to the graph.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Cached": { + "description": "Persistent cached configuration value exposed by the output.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "DefaultValue": { + "description": "Value used when the configuration key has not been stored.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Key": { + "description": "Name used to look up the value in platform configuration storage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanTx", + "description": "Transmits up to eight data bytes on a selected CAN bus at a configurable maximum rate.", + "displayName": "CAN TX", + "domain": "", + "id": "Actuators.CanTx", + "inlineCode": "/* CAN transmit, rate-limited by wall clock: sends when 1000/Rate ms have\n * elapsed since the previous send (Rate <= 0 sends every step).\n * D0..D7 = payload bytes (unconnected = 0), Dlc = how many of the 8 to\n * send, Ext: 0 std / 1 ext. */\nconst uint32_t period_ms = (Rate > 0.0f) ? static_cast(1000.0f / Rate) : 0U;\nconst uint32_t now_ms = platform_millis();\nif (period_ms == 0U || (now_ms - static_cast(LastMs)) >= period_ms) {\n LastMs = static_cast(now_ms);\n const uint8_t b[8] = {\n static_cast(D0), static_cast(D1),\n static_cast(D2), static_cast(D3),\n static_cast(D4), static_cast(D5),\n static_cast(D6), static_cast(D7),\n };\n uint8_t n = static_cast(Dlc);\n if (n > 8) n = 8;\n platform_can_send(static_cast(Bus), static_cast(Id),\n Ext > 0.5f, b, n);\n}\n", + "inputPorts": [ + { + "description": "Payload byte 0. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D0", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 1. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D1", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 2. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D2", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 3. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D3", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 4. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D4", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 5. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D5", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 6. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D6", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 7. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D7", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D0": { + "description": "Fallback value for payload byte 0 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D1": { + "description": "Fallback value for payload byte 1 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D2": { + "description": "Fallback value for payload byte 2 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D3": { + "description": "Fallback value for payload byte 3 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D4": { + "description": "Fallback value for payload byte 4 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D5": { + "description": "Fallback value for payload byte 5 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D6": { + "description": "Fallback value for payload byte 6 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D7": { + "description": "Fallback value for payload byte 7 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dlc": { + "description": "Number of payload bytes to transmit, clamped to the range 0 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ext": { + "description": "Use an extended 29-bit identifier when greater than 0.5; otherwise use a standard identifier.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier to transmit.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastMs": { + "description": "Internal timestamp of the previous transmission in milliseconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum transmission rate in frames per second. Values at or below zero send every step.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mux", + "description": "Selects one of two scalar inputs using a boolean control signal.", + "displayName": "Mux", + "domain": "", + "id": "Logic.Mux", + "inlineCode": "Out = Sel ? A : B;\n", + "inputPorts": [ + { + "description": "Selection signal. True selects A; false selects B.", + "direction": "input", + "name": "Sel", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Value selected when Sel is true.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Value selected when Sel is false.", + "direction": "input", + "name": "B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Currently selected input value.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + } + ], + "nodes": [ + { + "displayName": "", + "domain": "adc_isr", + "id": "Currents", + "parameters": { + "InvertPolarity": "1.0" + }, + "position": { + "x": 150.0, + "y": 80.0 + }, + "type": "Sensors.PhaseCurrents" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Encoder", + "parameters": {}, + "position": { + "x": 150.0, + "y": 3022.0 + }, + "type": "Sensors.Encoder" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "VdcSense", + "parameters": {}, + "position": { + "x": 1224.8309759999993, + "y": 2316.270592000001 + }, + "type": "Sensors.DcLinkVoltage" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Clarke", + "parameters": {}, + "position": { + "x": 527.17632, + "y": 1434.1062400000003 + }, + "type": "Transforms.Clarke" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Park", + "parameters": {}, + "position": { + "x": 858.8387200000002, + "y": 1442.8153599999998 + }, + "type": "Transforms.Park" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "ElecAngle", + "parameters": { + "EncoderSign": "1.0", + "OffsetDeg": "6.445", + "Poles": "10.0" + }, + "position": { + "x": 543.3503999999999, + "y": 2122.18016 + }, + "type": "Transforms.ElecAngle", + "inlineCode": "/* Wrap the mechanical encoder angle to [0, 2*pi). */\nconst float two_pi = 6.28318530718f;\nfloat theta = fmodf(ThetaMech, two_pi);\nif (theta < 0.0f) theta += two_pi;\n\n/* Electrical angle = offset (elec deg) + sign * encoder_angle * (Poles / 2).\n * Matches the base-image FocController convention (CyclesRev=1).\n *\n * Guard bad FRAM/config values that freeze \u03b8e at 0:\n * - Poles<=0 \u2192 fall back to 10\n * - |Sign|<0.5 \u2192 fall back to +1 (Sign=0 nulls the encoder term).\n * Do NOT coerce a valid Sign=-1. */\nconstexpr float DEG_TO_RAD = 0.01745329251f;\nfloat poles = Poles;\nif (!(poles > 0.5f)) poles = 10.0f;\nfloat sign = EncoderSign;\nif (fabsf(sign) < 0.5f) sign = 1.0f;\nelse sign = (sign >= 0.0f) ? 1.0f : -1.0f;\nfloat offset_deg = OffsetDeg;\nfloat elec = offset_deg * DEG_TO_RAD + sign * theta * poles * 0.5f;\n\n/* Wrap the electrical angle to [0, 2*pi). */\nelec = fmodf(elec, two_pi);\nif (elec < 0.0f) elec += two_pi;\n\nThetaElec = elec;\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "OmegaDeriv", + "parameters": { + "Dt": "0.0002", + "Fc": "200.0", + "OutState": "0.0", + "Prev": "0.0", + "Unwrap": "1.0" + }, + "position": { + "x": 826.4905599999997, + "y": 2189.2524799999997 + }, + "type": "Transforms.Derivative" + }, + { + "displayName": "Hybrid ADRC+MPCC (Gen6)", + "domain": "tim_isr", + "id": "AdrcMpcc", + "parameters": { + "I_Base": "20.0", + "I_Max": "15.0", + "Ld": "0.00007", + "Lq": "0.00012", + "PsiF": "0.07", + "Rs": "0.05", + "Ts": "0.0002", + "OmegaO": "1500.0", + "DbScale": "0.55", + "SpdMode": "0.0", + "SpdKp": "0.03", + "SpdKi": "0.08", + "PolePairs": "5.0" + }, + "position": { + "x": 1602.0899840000004, + "y": 1704.3377919999998 + }, + "type": "Control.AdrcMpcc", + "parameterInputs": [ + "Rs", + "Ld", + "Lq", + "PsiF" + ], + "inlineCode": "/* Hybrid ADRC + predictive current control for Gen6 PMSM (55 V demo).\n *\n * Mode-3 deadbeat + Ki \u2192 SVPWM, mild residual ESO.\n * Optional outer speed loop: SpdMode>0.5 \u21d2 I_Q_Ref is mechanical rpm setpoint.\n *\n * Tuned for clean no-load spin under a ~55 V bus (voltage ceiling ~650\u2013750 rpm\n * with \u03c8\u22480.07). Soft field-weakening + Iq-priority under modulation limit\n * reduce the sync-loss blowups seen in HybridADRCMPC-5/6.\n *\n * AXISRAM (.dma_buffers) is NOLOAD \u2014 magic-clear before use.\n */\n\nstruct HyAdrcMpccState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float z1_d;\n float z2_d;\n float z1_q;\n float z2_q;\n float id_int;\n float iq_int;\n float theta_prev;\n float omega_f;\n float spd_int;\n float iq_cmd_f;\n uint8_t filt_init;\n uint8_t eso_init;\n uint8_t omega_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kHyMagic = 0x48594135u; /* HYA5 */\n\nstatic HyAdrcMpccState hy __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (hy.magic != kHyMagic) {\n hy.u_alpha_prev = 0.0f;\n hy.u_beta_prev = 0.0f;\n hy.enable_s = 0.0f;\n hy.id_f = 0.0f;\n hy.iq_f = 0.0f;\n hy.z1_d = 0.0f;\n hy.z2_d = 0.0f;\n hy.z1_q = 0.0f;\n hy.z2_q = 0.0f;\n hy.id_int = 0.0f;\n hy.iq_int = 0.0f;\n hy.theta_prev = 0.0f;\n hy.omega_f = 0.0f;\n hy.spd_int = 0.0f;\n hy.iq_cmd_f = 0.0f;\n hy.filt_init = 0;\n hy.eso_init = 0;\n hy.omega_init = 0;\n hy._pad = 0;\n hy.magic = kHyMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\n/* Gen6 no-load ceiling @55 V matches \u03c8\u22480.07 better than the old 0.01 placeholder. */\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f; /* reject leftover 0.01 graph defaults */\n\nfloat wo = OmegaO;\nfloat db_scale = DbScale;\nif (!(wo > 0.0f)) wo = 1500.0f;\nif (wo > 4000.0f) wo = 4000.0f;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat spd_kp = SpdKp;\nfloat spd_ki = SpdKi;\nif (!(spd_kp > 0.0f)) spd_kp = 0.03f;\nif (!(spd_ki >= 0.0f)) spd_ki = 0.08f;\nconst bool spd_mode = (SpdMode > 0.5f);\n\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Local unwrapped \u03c9e (also used by speed loop). */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (hy.omega_init == 0) {\n hy.theta_prev = theta_e;\n hy.omega_f = 0.0f;\n hy.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - hy.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float fc_w = 150.0f;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * fc_w * ts));\n hy.omega_f += a_w * (w_raw - hy.omega_f);\n omega_e = hy.omega_f;\n}\nhy.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n/* Available headroom vs bemf \u2014 used to ease gains near the 55 V ceiling. */\nfloat bemf = fabsf(omega_e) * psi_f;\nfloat headroom = v_max - bemf;\nif (headroom < 0.0f) headroom = 0.0f;\nfloat db_eff = db_scale;\nif (v_max > 1.0f) {\n const float util = bemf / v_max;\n if (util > 0.75f) {\n float ease = 1.0f - 0.55f * ((util - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n if (ease > 1.0f) ease = 1.0f;\n db_eff *= ease;\n }\n}\n\nfloat iq_ref = iq_ref_in;\nfloat id_ref_cmd = id_ref;\nif (spd_mode) {\n /* I_Q_Ref interpreted as mechanical rpm setpoint. */\n float rpm_ref = iq_ref_in;\n if (rpm_ref > 700.0f) rpm_ref = 700.0f; /* stay under ~55 V no-load ceiling */\n if (rpm_ref < -700.0f) rpm_ref = -700.0f;\n const float rpm_err = rpm_ref - rpm_meas;\n float iq_lim = 0.45f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque authority as bemf eats the bus (prevents sync-loss blowups). */\n if (v_max > 1.0f) {\n float util = bemf / v_max;\n if (util > 0.80f) {\n float shrink = 1.0f - 0.70f * ((util - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n }\n hy.spd_int += spd_ki * rpm_err * ts;\n if (hy.spd_int > iq_lim) hy.spd_int = iq_lim;\n if (hy.spd_int < -iq_lim) hy.spd_int = -iq_lim;\n iq_ref = spd_kp * rpm_err + hy.spd_int;\n if (iq_ref > iq_lim) iq_ref = iq_lim;\n if (iq_ref < -iq_lim) iq_ref = -iq_lim;\n /* Soft-start Iq command. */\n const float di_max = 40.0f * ts; /* 40 A/s */\n float di = iq_ref - hy.iq_cmd_f;\n if (di > di_max) di = di_max;\n if (di < -di_max) di = -di_max;\n hy.iq_cmd_f += di;\n iq_ref = hy.iq_cmd_f;\n} else {\n hy.spd_int = 0.0f;\n hy.iq_cmd_f = iq_ref;\n}\n\n/* Mild field weakening when voltage-limited (Id negative). */\nif (v_max > 1.0f && bemf > 0.82f * v_max) {\n float fw = (bemf / v_max - 0.82f) / 0.18f;\n if (fw > 1.0f) fw = 1.0f;\n if (fw < 0.0f) fw = 0.0f;\n const float id_fw = -fw * 0.35f * i_max;\n if (id_ref_cmd > id_fw) id_ref_cmd = id_fw;\n}\nid_ref = id_ref_cmd;\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n Fhat_D = hy.z2_d;\n Fhat_Q = hy.z2_q;\n hy.u_alpha_prev = 0.0f;\n hy.u_beta_prev = 0.0f;\n hy.enable_s = 0.0f;\n hy.id_f = id_raw;\n hy.iq_f = iq_raw;\n hy.filt_init = 0;\n hy.eso_init = 0;\n hy.omega_init = 0;\n hy.omega_f = 0.0f;\n hy.spd_int = 0.0f;\n hy.iq_cmd_f = 0.0f;\n hy.z1_d = 0.0f;\n hy.z2_d = 0.0f;\n hy.z1_q = 0.0f;\n hy.z2_q = 0.0f;\n hy.id_int = 0.0f;\n hy.iq_int = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n const float b0_d = 1.0f / ld;\n const float b0_q = 1.0f / lq;\n\n if (hy.filt_init == 0) {\n hy.id_f = id_raw;\n hy.iq_f = iq_raw;\n hy.filt_init = 1;\n } else {\n const float fc = 400.0f;\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * fc * ts));\n hy.id_f += alpha * (id_raw - hy.id_f);\n hy.iq_f += alpha * (iq_raw - hy.iq_f);\n }\n const float id = hy.id_f;\n const float iq = hy.iq_f;\n\n const float vd_prev = hy.u_alpha_prev * cos_t + hy.u_beta_prev * sin_t;\n const float vq_prev = -hy.u_alpha_prev * sin_t + hy.u_beta_prev * cos_t;\n\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n if (hy.eso_init == 0) {\n hy.z1_d = id;\n hy.z2_d = 0.0f;\n hy.z1_q = iq;\n hy.z2_q = 0.0f;\n hy.eso_init = 1;\n } else {\n const float vd_model = rs * id - omega_e * lq * iq;\n const float vq_model = rs * iq + omega_e * ld * id + omega_e * psi_f;\n const float vd_res = vd_prev - vd_model;\n const float vq_res = vq_prev - vq_model;\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float ed = hy.z1_d - id;\n const float eq = hy.z1_q - iq;\n hy.z1_d += ts * (hy.z2_d + b0_d * vd_res - beta1 * ed);\n hy.z2_d += ts * (-beta2 * ed);\n hy.z1_q += ts * (hy.z2_q + b0_q * vq_res - beta1 * eq);\n hy.z2_q += ts * (-beta2 * eq);\n const float fmax = 1.0e4f;\n if (hy.z2_d > fmax) hy.z2_d = fmax;\n if (hy.z2_d < -fmax) hy.z2_d = -fmax;\n if (hy.z2_q > fmax) hy.z2_q = fmax;\n if (hy.z2_q < -fmax) hy.z2_q = -fmax;\n }\n\n const float ramp_s = 0.12f;\n hy.enable_s += ts;\n if (hy.enable_s > ramp_s) hy.enable_s = ramp_s;\n float v_scale = hy.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n hy.id_int = 0.0f;\n hy.iq_int = 0.0f;\n hy.spd_int = 0.0f;\n hy.z2_d = 0.0f;\n hy.z2_q = 0.0f;\n hy.u_alpha_prev = 0.0f;\n hy.u_beta_prev = 0.0f;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n const float i_lim_v = v_max;\n if (v_scale > 0.0f) {\n hy.id_int += ki * id_err * ts;\n hy.iq_int += ki * iq_err * ts;\n }\n if (hy.id_int > i_lim_v) hy.id_int = i_lim_v;\n if (hy.id_int < -i_lim_v) hy.id_int = -i_lim_v;\n if (hy.iq_int > i_lim_v) hy.iq_int = i_lim_v;\n if (hy.iq_int < -i_lim_v) hy.iq_int = -i_lim_v;\n\n const float k_eso = 0.10f;\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + hy.id_int\n - k_eso * ld * hy.z2_d;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err\n + hy.iq_int - k_eso * lq * hy.z2_q;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Voltage limit with Iq priority (keep torque axis when saturated). */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n const float vq_lim = v_max;\n if (fabsf(vq_ref) > vq_lim) {\n vq_ref = (vq_ref > 0.0f) ? vq_lim : -vq_lim;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n hy.id_int *= 0.90f;\n hy.iq_int *= 0.90f;\n if (spd_mode) hy.spd_int *= 0.98f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = spd_mode ? 1.0f : 3.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n Fhat_D = hy.z2_d;\n Fhat_Q = hy.z2_q;\n\n hy.u_alpha_prev = valpha_ref;\n hy.u_beta_prev = vbeta_ref;\n}\n", + "name": "AdrcMpcc", + "defaultName": "AdrcMpcc", + "description": "ESO-assisted predictive current control for Gen6: ADRC observers estimate dq disturbance; mild deadbeat voltage feeds the same SVPWM path as FOC/MPCC Mode 3. Drop-in replacement for Control.Mpcc in mpcc_demo wiring.", + "inputPorts": [ + { + "name": "I_D", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured d-axis current in amperes." + }, + { + "name": "I_Q", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured q-axis current in amperes." + }, + { + "name": "I_D_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "d-axis current reference (A)." + }, + { + "name": "I_Q_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "q-axis current reference (A)." + }, + { + "name": "Theta_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor angle (rad)." + }, + { + "name": "Omega_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor speed (rad/s). Used for telemetry; ESO absorbs model terms." + }, + { + "name": "V_Dc", + "direction": "input", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "DC-link voltage (V)." + }, + { + "name": "Enable", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Controller enable." + } + ], + "outputPorts": [ + { + "name": "S_A", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Nearest active-vector A (telemetry / optional SwitchingToDuty)." + }, + { + "name": "S_B", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Nearest active-vector B." + }, + { + "name": "S_C", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Nearest active-vector C." + }, + { + "name": "State_Index", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Nearest active-vector index 1..6." + }, + { + "name": "Pred_I_D", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted d-axis current." + }, + { + "name": "Pred_I_Q", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted q-axis current." + }, + { + "name": "Cost", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Normalized tracking cost." + }, + { + "name": "V_Alpha", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Voltage reference alpha (to SVPWM)." + }, + { + "name": "V_Beta", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Voltage reference beta (to SVPWM)." + }, + { + "name": "V_D", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "d-axis voltage command." + }, + { + "name": "V_Q", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "q-axis voltage command." + }, + { + "name": "Fhat_D", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "ESO disturbance estimate d-axis (di/dt units)." + }, + { + "name": "Fhat_Q", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "ESO disturbance estimate q-axis (di/dt units)." + } + ], + "parameterTypes": { + "Ts": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Control sample period (s)." + }, + "Ld": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "d-axis inductance (H); sets b0_d = 1/Ld." + }, + "Lq": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "q-axis inductance (H); sets b0_q = 1/Lq." + }, + "OmegaO": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "ESO bandwidth \u03c9o (rad/s). Typical 1500\u20133000." + }, + "DbScale": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Deadbeat tracking scale (0\u20131). Gen6 default ~0.40." + }, + "I_Base": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Current normalization base (A)." + }, + "I_Max": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Soft current limit (A)." + }, + "Rs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Unused by hybrid (kept for graph KV compatibility)." + }, + "PsiF": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Unused by hybrid (kept for graph KV compatibility)." + } + } + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "SwitchToDuty", + "parameters": {}, + "position": { + "x": 2003.420223999999, + "y": 1481.2775679999993 + }, + "type": "Transforms.SwitchToDuty" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "PwmOut", + "parameters": {}, + "position": { + "x": 2628.625408000001, + "y": 1712.4121599999994 + }, + "type": "Actuators.PwmOut" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgEncSign", + "parameters": { + "Cached": "0.0", + "DefaultValue": "1.0", + "Key": "Motor.Encoder.SinCos.Sign" + }, + "position": { + "x": 150.0, + "y": 2644.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgEncOffset", + "parameters": { + "Cached": "0.0", + "DefaultValue": "6.445", + "Key": "Motor.Encoder.SinCos.OffsetDeg" + }, + "position": { + "x": 150.0, + "y": 2455.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgPoles", + "parameters": { + "Cached": "0.0", + "DefaultValue": "10.0", + "Key": "Motor.Poles" + }, + "position": { + "x": 150.0, + "y": 2833.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgRs", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.05", + "Key": "Motor.Resistance.Avg" + }, + "position": { + "x": 150.0, + "y": 2077.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgLd", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.00007", + "Key": "Motor.PMSM.Inductance.Ld" + }, + "position": { + "x": 150.0, + "y": 1510.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgLq", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.00012", + "Key": "Motor.PMSM.Inductance.Lq" + }, + "position": { + "x": 150.0, + "y": 1699.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgPsi", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.07", + "Key": "Motor.PMSM.FluxLinkage.Wb" + }, + "position": { + "x": 150.0, + "y": 1888.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "IdVar", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": 1122.7200000000007, + "y": 1693.5596800000005 + }, + "type": "Values.Var" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "IqVar", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": 150.0, + "y": 3175.0 + }, + "type": "Values.Var" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgEnable", + "parameters": { + "Cached": "0.0", + "DefaultValue": "1.0", + "Key": "Ctrl.ThrottleEnable" + }, + "position": { + "x": 150.0, + "y": 2266.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "ThrottleEnable", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "1.0" + }, + "position": { + "x": 870.0361600000001, + "y": 1836.56672 + }, + "type": "Values.VarBool" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "IqGate", + "parameters": {}, + "position": { + "x": 1122.3398400000005, + "y": 1863.3865599999997 + }, + "type": "Logic.Gate" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "SlewIq", + "parameters": { + "Dt": "0.0002", + "Rate": "50.0", + "Value": "0.0" + }, + "position": { + "x": 906.1474559999997, + "y": 2408.3075840000006 + }, + "type": "Control.Slew" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogId", + "parameters": { + "Key": "mpcc_id_a" + }, + "position": { + "x": 1247.2800000000002, + "y": 1395.88 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogIq", + "parameters": { + "Key": "mpcc_iq_a" + }, + "position": { + "x": 1310.2080000000003, + "y": 1523.0300800000002 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogPredId", + "parameters": { + "Key": "mpcc_pred_id_a" + }, + "position": { + "x": 2010.1870719999995, + "y": 1866.0328959999993 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogPredIq", + "parameters": { + "Key": "mpcc_pred_iq_a" + }, + "position": { + "x": 2029.5959680000005, + "y": 1990.6520320000004 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogCost", + "parameters": { + "Key": "mpcc_cost" + }, + "position": { + "x": 1981.820224000001, + "y": 2135.5636480000016 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogState", + "parameters": { + "Key": "mpcc_state" + }, + "position": { + "x": 2047.5118719999984, + "y": 1689.7684480000003 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogDu", + "parameters": { + "Key": "mpcc_du" + }, + "position": { + "x": 2623.8975999999993, + "y": 1423.4064640000004 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogDv", + "parameters": { + "Key": "mpcc_dv" + }, + "position": { + "x": 2647.785472, + "y": 1567.4344959999996 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogDw", + "parameters": { + "Key": "mpcc_dw" + }, + "position": { + "x": 2605.9816960000003, + "y": 1911.523456 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogThetaE", + "parameters": { + "Key": "mpcc_theta_e" + }, + "position": { + "x": 795.1377279999999, + "y": 2046.219776 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogOmegaE", + "parameters": { + "Key": "mpcc_omega_e" + }, + "position": { + "x": 1184.2990080000002, + "y": 2159.551296 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "EncoderApp", + "parameters": {}, + "position": { + "x": 522.0, + "y": 680.0 + }, + "type": "Sensors.Encoder" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "VdcApp", + "parameters": {}, + "position": { + "x": 522.0, + "y": 1223.0 + }, + "type": "Sensors.DcLinkVoltage" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Temps", + "parameters": {}, + "position": { + "x": 522.0, + "y": 833.0 + }, + "type": "Sensors.Temperatures" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Throttle", + "parameters": {}, + "position": { + "x": 522.0, + "y": 1042.0 + }, + "type": "Sensors.Throttle" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Din1", + "parameters": { + "Pin": "1.0" + }, + "position": { + "x": 522.0, + "y": 530.0 + }, + "type": "Sensors.DigitalIn" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LedGreen", + "parameters": { + "Pin": "5.0" + }, + "position": { + "x": 856.0, + "y": 80.0 + }, + "type": "Actuators.DigitalOut" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogTheta", + "parameters": { + "Key": "cg_theta_rad" + }, + "position": { + "x": 856.0, + "y": 230.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogU", + "parameters": { + "Key": "cg_iu_a" + }, + "position": { + "x": 522.0, + "y": 80.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogV", + "parameters": { + "Key": "cg_iv_a" + }, + "position": { + "x": 522.0, + "y": 230.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogW", + "parameters": { + "Key": "cg_iw_a" + }, + "position": { + "x": 522.0, + "y": 380.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogVdc", + "parameters": { + "Key": "cg_vdc_v" + }, + "position": { + "x": 856.0, + "y": 1280.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Motor", + "parameters": { + "Key": "temp_motor_c" + }, + "position": { + "x": 856.0, + "y": 830.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv1", + "parameters": { + "Key": "temp_inv1_c" + }, + "position": { + "x": 856.0, + "y": 380.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv2", + "parameters": { + "Key": "temp_inv2_c" + }, + "position": { + "x": 856.0, + "y": 530.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv3", + "parameters": { + "Key": "temp_inv3_c" + }, + "position": { + "x": 856.0, + "y": 680.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogThrA", + "parameters": { + "Key": "thr_a_norm" + }, + "position": { + "x": 856.0, + "y": 980.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogThrB", + "parameters": { + "Key": "thr_b_norm" + }, + "position": { + "x": 856.0, + "y": 1130.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Svpwm", + "parameters": {}, + "position": { + "x": 1904.1846399999995, + "y": 2280.5490559999994 + }, + "type": "Transforms.Svpwm" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogThetaMech", + "parameters": { + "Key": "mpcc_theta_mech" + }, + "position": { + "x": 400, + "y": 2600 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogLd", + "parameters": { + "Key": "mpcc_ld_h" + }, + "position": { + "x": 400, + "y": 1520 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogLq", + "parameters": { + "Key": "mpcc_lq_h" + }, + "position": { + "x": 400, + "y": 1710 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogEncSign", + "parameters": { + "Key": "mpcc_enc_sign" + }, + "position": { + "x": 400, + "y": 2650 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgIqSlew", + "parameters": { + "Cached": "0.0", + "DefaultValue": "50.0", + "Key": "Ctrl.Iq.SlewAps" + }, + "position": { + "x": 150.0, + "y": 2266.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + } + ] +} diff --git a/Assets/NodeTemplates/Control.AdrcMpcc/inline.cpp b/Assets/NodeTemplates/Control.AdrcMpcc/inline.cpp new file mode 100644 index 00000000..35ba3dbd --- /dev/null +++ b/Assets/NodeTemplates/Control.AdrcMpcc/inline.cpp @@ -0,0 +1,364 @@ +/* Hybrid ADRC + predictive current control for Gen6 PMSM (55 V demo). + * + * Mode-3 deadbeat + Ki → SVPWM, mild residual ESO. + * Optional outer speed loop: SpdMode>0.5 ⇒ I_Q_Ref is mechanical rpm setpoint. + * + * Tuned for clean no-load spin under a ~55 V bus (voltage ceiling ~650–750 rpm + * with ψ≈0.07). Soft field-weakening + Iq-priority under modulation limit + * reduce the sync-loss blowups seen in HybridADRCMPC-5/6. + * + * AXISRAM (.dma_buffers) is NOLOAD — magic-clear before use. + */ + +struct HyAdrcMpccState { + uint32_t magic; + float u_alpha_prev; + float u_beta_prev; + float enable_s; + float id_f; + float iq_f; + float z1_d; + float z2_d; + float z1_q; + float z2_q; + float id_int; + float iq_int; + float theta_prev; + float omega_f; + float spd_int; + float iq_cmd_f; + uint8_t filt_init; + uint8_t eso_init; + uint8_t omega_init; + uint8_t _pad; +}; + +static constexpr uint32_t kHyMagic = 0x48594135u; /* HYA5 */ + +static HyAdrcMpccState hy __attribute__((section(".dma_buffers"), aligned(4))); + +if (hy.magic != kHyMagic) { + hy.u_alpha_prev = 0.0f; + hy.u_beta_prev = 0.0f; + hy.enable_s = 0.0f; + hy.id_f = 0.0f; + hy.iq_f = 0.0f; + hy.z1_d = 0.0f; + hy.z2_d = 0.0f; + hy.z1_q = 0.0f; + hy.z2_q = 0.0f; + hy.id_int = 0.0f; + hy.iq_int = 0.0f; + hy.theta_prev = 0.0f; + hy.omega_f = 0.0f; + hy.spd_int = 0.0f; + hy.iq_cmd_f = 0.0f; + hy.filt_init = 0; + hy.eso_init = 0; + hy.omega_init = 0; + hy._pad = 0; + hy.magic = kHyMagic; +} + +const float ts = Ts; +float ld = Ld; +float lq = Lq; +float rs = Rs; +float psi_f = PsiF; +if (!(ld > 1.0e-7f)) ld = 70.0e-6f; +if (!(lq > 1.0e-7f)) lq = 120.0e-6f; +if (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f; +/* Gen6 no-load ceiling @55 V matches ψ≈0.07 better than the old 0.01 placeholder. */ +if (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f; +if (psi_f < 0.02f) psi_f = 0.07f; /* reject leftover 0.01 graph defaults */ + +float wo = OmegaO; +float db_scale = DbScale; +if (!(wo > 0.0f)) wo = 1500.0f; +if (wo > 4000.0f) wo = 4000.0f; +if (!(db_scale > 0.10f)) db_scale = 0.55f; +if (db_scale > 1.0f) db_scale = 1.0f; + +const float i_base = (I_Base > 0.0f) ? I_Base : 20.0f; +float i_max = (I_Max > 0.0f) ? I_Max : 15.0f; +if (i_max < 5.0f) i_max = 5.0f; +if (i_max > 40.0f) i_max = 40.0f; + +float pole_pairs = PolePairs; +if (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f; + +float spd_kp = SpdKp; +float spd_ki = SpdKi; +if (!(spd_kp > 0.0f)) spd_kp = 0.03f; +if (!(spd_ki >= 0.0f)) spd_ki = 0.08f; +const bool spd_mode = (SpdMode > 0.5f); + +const float vdc = V_Dc.in(au::volts); +const float id_raw = I_D.in(au::amperes); +const float iq_raw = I_Q.in(au::amperes); +float id_ref = I_D_Ref; +float iq_ref_in = I_Q_Ref; +const float theta_e = Theta_E; +const float pi = 3.14159265359f; +const float two_pi = 6.28318530718f; +const float sqrt3 = 1.73205080757f; + +/* Local unwrapped ωe (also used by speed loop). */ +float omega_e = Omega_E; +if (!(omega_e == omega_e)) omega_e = 0.0f; +if (hy.omega_init == 0) { + hy.theta_prev = theta_e; + hy.omega_f = 0.0f; + hy.omega_init = 1; +} else if (ts > 0.0f) { + float dth = theta_e - hy.theta_prev; + dth = fmodf(dth + pi, two_pi); + if (dth < 0.0f) dth += two_pi; + dth -= pi; + const float w_raw = dth / ts; + const float fc_w = 150.0f; + const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * fc_w * ts)); + hy.omega_f += a_w * (w_raw - hy.omega_f); + omega_e = hy.omega_f; +} +hy.theta_prev = theta_e; +if (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f; + +const float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi; +const float v_max = (vdc / sqrt3) * 0.95f; +/* Available headroom vs bemf — used to ease gains near the 55 V ceiling. */ +float bemf = fabsf(omega_e) * psi_f; +float headroom = v_max - bemf; +if (headroom < 0.0f) headroom = 0.0f; +float db_eff = db_scale; +if (v_max > 1.0f) { + const float util = bemf / v_max; + if (util > 0.75f) { + float ease = 1.0f - 0.55f * ((util - 0.75f) / 0.25f); + if (ease < 0.45f) ease = 0.45f; + if (ease > 1.0f) ease = 1.0f; + db_eff *= ease; + } +} + +float iq_ref = iq_ref_in; +float id_ref_cmd = id_ref; +if (spd_mode) { + /* I_Q_Ref interpreted as mechanical rpm setpoint. */ + float rpm_ref = iq_ref_in; + if (rpm_ref > 700.0f) rpm_ref = 700.0f; /* stay under ~55 V no-load ceiling */ + if (rpm_ref < -700.0f) rpm_ref = -700.0f; + const float rpm_err = rpm_ref - rpm_meas; + float iq_lim = 0.45f * i_max; + if (iq_lim < 4.0f) iq_lim = 4.0f; + if (iq_lim > 12.0f) iq_lim = 12.0f; + /* Shrink torque authority as bemf eats the bus (prevents sync-loss blowups). */ + if (v_max > 1.0f) { + float util = bemf / v_max; + if (util > 0.80f) { + float shrink = 1.0f - 0.70f * ((util - 0.80f) / 0.20f); + if (shrink < 0.25f) shrink = 0.25f; + iq_lim *= shrink; + } + } + hy.spd_int += spd_ki * rpm_err * ts; + if (hy.spd_int > iq_lim) hy.spd_int = iq_lim; + if (hy.spd_int < -iq_lim) hy.spd_int = -iq_lim; + iq_ref = spd_kp * rpm_err + hy.spd_int; + if (iq_ref > iq_lim) iq_ref = iq_lim; + if (iq_ref < -iq_lim) iq_ref = -iq_lim; + /* Soft-start Iq command. */ + const float di_max = 40.0f * ts; /* 40 A/s */ + float di = iq_ref - hy.iq_cmd_f; + if (di > di_max) di = di_max; + if (di < -di_max) di = -di_max; + hy.iq_cmd_f += di; + iq_ref = hy.iq_cmd_f; +} else { + hy.spd_int = 0.0f; + hy.iq_cmd_f = iq_ref; +} + +/* Mild field weakening when voltage-limited (Id negative). */ +if (v_max > 1.0f && bemf > 0.82f * v_max) { + float fw = (bemf / v_max - 0.82f) / 0.18f; + if (fw > 1.0f) fw = 1.0f; + if (fw < 0.0f) fw = 0.0f; + const float id_fw = -fw * 0.35f * i_max; + if (id_ref_cmd > id_fw) id_ref_cmd = id_fw; +} +id_ref = id_ref_cmd; + +if (id_ref > i_max) id_ref = i_max; +if (id_ref < -i_max) id_ref = -i_max; +if (iq_ref > i_max) iq_ref = i_max; +if (iq_ref < -i_max) iq_ref = -i_max; + +const float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base) + + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base); + +const bool enable = Enable; +const bool bus_ok = (vdc >= 40.0f); +if (!enable || !(ts > 0.0f) || !bus_ok) { + S_A = 0.0f; + S_B = 0.0f; + S_C = 0.0f; + State_Index = 0.0f; + Pred_I_D = rte::Amperes(id_raw); + Pred_I_Q = rte::Amperes(iq_raw); + Cost = cost_track; + V_Alpha = rte::Volts(0.0f); + V_Beta = rte::Volts(0.0f); + V_D = rte::Volts(0.0f); + V_Q = rte::Volts(0.0f); + Fhat_D = hy.z2_d; + Fhat_Q = hy.z2_q; + hy.u_alpha_prev = 0.0f; + hy.u_beta_prev = 0.0f; + hy.enable_s = 0.0f; + hy.id_f = id_raw; + hy.iq_f = iq_raw; + hy.filt_init = 0; + hy.eso_init = 0; + hy.omega_init = 0; + hy.omega_f = 0.0f; + hy.spd_int = 0.0f; + hy.iq_cmd_f = 0.0f; + hy.z1_d = 0.0f; + hy.z2_d = 0.0f; + hy.z1_q = 0.0f; + hy.z2_q = 0.0f; + hy.id_int = 0.0f; + hy.iq_int = 0.0f; +} else { + const float cos_t = cosf(theta_e); + const float sin_t = sinf(theta_e); + const float b0_d = 1.0f / ld; + const float b0_q = 1.0f / lq; + + if (hy.filt_init == 0) { + hy.id_f = id_raw; + hy.iq_f = iq_raw; + hy.filt_init = 1; + } else { + const float fc = 400.0f; + const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * fc * ts)); + hy.id_f += alpha * (id_raw - hy.id_f); + hy.iq_f += alpha * (iq_raw - hy.iq_f); + } + const float id = hy.id_f; + const float iq = hy.iq_f; + + const float vd_prev = hy.u_alpha_prev * cos_t + hy.u_beta_prev * sin_t; + const float vq_prev = -hy.u_alpha_prev * sin_t + hy.u_beta_prev * cos_t; + + const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq); + const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f); + + if (hy.eso_init == 0) { + hy.z1_d = id; + hy.z2_d = 0.0f; + hy.z1_q = iq; + hy.z2_q = 0.0f; + hy.eso_init = 1; + } else { + const float vd_model = rs * id - omega_e * lq * iq; + const float vq_model = rs * iq + omega_e * ld * id + omega_e * psi_f; + const float vd_res = vd_prev - vd_model; + const float vq_res = vq_prev - vq_model; + const float beta1 = 2.0f * wo; + const float beta2 = wo * wo; + const float ed = hy.z1_d - id; + const float eq = hy.z1_q - iq; + hy.z1_d += ts * (hy.z2_d + b0_d * vd_res - beta1 * ed); + hy.z2_d += ts * (-beta2 * ed); + hy.z1_q += ts * (hy.z2_q + b0_q * vq_res - beta1 * eq); + hy.z2_q += ts * (-beta2 * eq); + const float fmax = 1.0e4f; + if (hy.z2_d > fmax) hy.z2_d = fmax; + if (hy.z2_d < -fmax) hy.z2_d = -fmax; + if (hy.z2_q > fmax) hy.z2_q = fmax; + if (hy.z2_q < -fmax) hy.z2_q = -fmax; + } + + const float ramp_s = 0.12f; + hy.enable_s += ts; + if (hy.enable_s > ramp_s) hy.enable_s = ramp_s; + float v_scale = hy.enable_s / ramp_s; + + const float i_meas = sqrtf(id * id + iq * iq); + float cost = cost_track; + if (i_meas > i_max) { + cost += 1.0e6f; + v_scale = 0.0f; + hy.id_int = 0.0f; + hy.iq_int = 0.0f; + hy.spd_int = 0.0f; + hy.z2_d = 0.0f; + hy.z2_q = 0.0f; + hy.u_alpha_prev = 0.0f; + hy.u_beta_prev = 0.0f; + } + + const float kp_d = (ld / ts) * db_eff; + const float kp_q = (lq / ts) * db_eff; + const float ki = 8.0f; + + const float id_err = id_ref - id_p; + const float iq_err = iq_ref - iq_p; + + const float i_lim_v = v_max; + if (v_scale > 0.0f) { + hy.id_int += ki * id_err * ts; + hy.iq_int += ki * iq_err * ts; + } + if (hy.id_int > i_lim_v) hy.id_int = i_lim_v; + if (hy.id_int < -i_lim_v) hy.id_int = -i_lim_v; + if (hy.iq_int > i_lim_v) hy.iq_int = i_lim_v; + if (hy.iq_int < -i_lim_v) hy.iq_int = -i_lim_v; + + const float k_eso = 0.10f; + float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + hy.id_int + - k_eso * ld * hy.z2_d; + float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + + hy.iq_int - k_eso * lq * hy.z2_q; + + vd_ref *= v_scale; + vq_ref *= v_scale; + + /* Voltage limit with Iq priority (keep torque axis when saturated). */ + const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref; + if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) { + const float vq_lim = v_max; + if (fabsf(vq_ref) > vq_lim) { + vq_ref = (vq_ref > 0.0f) ? vq_lim : -vq_lim; + } + const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref; + const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f; + if (vd_ref > vd_lim) vd_ref = vd_lim; + if (vd_ref < -vd_lim) vd_ref = -vd_lim; + hy.id_int *= 0.90f; + hy.iq_int *= 0.90f; + if (spd_mode) hy.spd_int *= 0.98f; + } + + const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t; + const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t; + + S_A = 0.0f; + S_B = 0.0f; + S_C = 0.0f; + State_Index = spd_mode ? 1.0f : 3.0f; + Pred_I_D = rte::Amperes(id_p); + Pred_I_Q = rte::Amperes(iq_p); + Cost = cost; + V_Alpha = rte::Volts(valpha_ref); + V_Beta = rte::Volts(vbeta_ref); + V_D = rte::Volts(vd_ref); + V_Q = rte::Volts(vq_ref); + Fhat_D = hy.z2_d; + Fhat_Q = hy.z2_q; + + hy.u_alpha_prev = valpha_ref; + hy.u_beta_prev = vbeta_ref; +} diff --git a/Assets/NodeTemplates/Control.AdrcMpcc/node.json b/Assets/NodeTemplates/Control.AdrcMpcc/node.json new file mode 100644 index 00000000..3fb21618 --- /dev/null +++ b/Assets/NodeTemplates/Control.AdrcMpcc/node.json @@ -0,0 +1,219 @@ +{ + "id": "Control.AdrcMpcc", + "displayName": "Hybrid ADRC+MPCC (Gen6)", + "defaultName": "AdrcMpcc", + "maxInstances": 1, + "isEntryPoint": false, + "domain": "tim_isr", + "description": "ESO-assisted predictive current control for Gen6: ADRC observers estimate dq disturbance; mild deadbeat voltage feeds the same SVPWM path as FOC/MPCC Mode 3. Drop-in replacement for Control.Mpcc in mpcc_demo wiring.", + "inputPorts": [ + { + "name": "I_D", + "direction": "input", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Measured d-axis current in amperes." + }, + { + "name": "I_Q", + "direction": "input", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Measured q-axis current in amperes." + }, + { + "name": "I_D_Ref", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "d-axis current reference (A)." + }, + { + "name": "I_Q_Ref", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "q-axis current reference (A)." + }, + { + "name": "Theta_E", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Electrical rotor angle (rad)." + }, + { + "name": "Omega_E", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Electrical rotor speed (rad/s). Used for telemetry; ESO absorbs model terms." + }, + { + "name": "V_Dc", + "direction": "input", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "DC-link voltage (V)." + }, + { + "name": "Enable", + "direction": "input", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Controller enable." + } + ], + "outputPorts": [ + { + "name": "S_A", + "direction": "output", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Nearest active-vector A (telemetry / optional SwitchingToDuty)." + }, + { + "name": "S_B", + "direction": "output", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Nearest active-vector B." + }, + { + "name": "S_C", + "direction": "output", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Nearest active-vector C." + }, + { + "name": "State_Index", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Nearest active-vector index 1..6." + }, + { + "name": "Pred_I_D", + "direction": "output", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Predicted d-axis current." + }, + { + "name": "Pred_I_Q", + "direction": "output", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Predicted q-axis current." + }, + { + "name": "Cost", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Normalized tracking cost." + }, + { + "name": "V_Alpha", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "Voltage reference alpha (to SVPWM)." + }, + { + "name": "V_Beta", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "Voltage reference beta (to SVPWM)." + }, + { + "name": "V_D", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "d-axis voltage command." + }, + { + "name": "V_Q", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "q-axis voltage command." + }, + { + "name": "Fhat_D", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "ESO disturbance estimate d-axis (di/dt units)." + }, + { + "name": "Fhat_Q", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "ESO disturbance estimate q-axis (di/dt units)." + } + ], + "parameterTypes": { + "Ts": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Control sample period (s)." + }, + "Ld": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "d-axis inductance (H); sets b0_d = 1/Ld." + }, + "Lq": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "q-axis inductance (H); sets b0_q = 1/Lq." + }, + "OmegaO": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "ESO bandwidth ωo (rad/s). Typical 1500–3000." + }, + "DbScale": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Deadbeat tracking scale (0–1). Gen6 @55 V demo default ~0.55." + }, + "I_Base": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Current normalization base (A)." + }, + "I_Max": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Hard current clamp (A). Demo default 15 A." + }, + "Rs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Stator resistance (ohm) for model feedforward." + }, + "PsiF": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "PM flux linkage (Wb). Gen6 ~0.07; values <0.02 are rejected as placeholders." + }, + "SpdMode": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "0=current mode (I_Q_Ref in A). 1=speed mode (I_Q_Ref = mechanical rpm setpoint)." + }, + "SpdKp": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed-loop Kp (A per rpm error)." + }, + "SpdKi": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed-loop Ki (A per rpm·s)." + }, + "PolePairs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Rotor pole pairs (Gen6 = 5)." + } + } +} diff --git a/Assets/NodeTemplates/Transforms.Derivative/inline.cpp b/Assets/NodeTemplates/Transforms.Derivative/inline.cpp index 20b53f09..6fb1ec8f 100644 --- a/Assets/NodeTemplates/Transforms.Derivative/inline.cpp +++ b/Assets/NodeTemplates/Transforms.Derivative/inline.cpp @@ -1,7 +1,20 @@ /* Filtered derivative: Out ~= d(In)/dt, low-passed at Fc [Hz] to keep * sampling noise out of the estimate (Fc <= 0 disables filtering). - * Prev/OutState are persistent state (leave at graph defaults). */ -const float raw = (In - Prev) / Dt; + * Prev/OutState are persistent state (leave at graph defaults). + * + * Unwrap > 0.5: treat In as an angle in radians and wrap (In-Prev) into + * (-pi, pi] before dividing by Dt. Required for Theta_E → ω_e; without it + * every 2π wrap injects a ~±2π/Dt spike (HybridADRCMPC-4 current spikes). + */ +float d_in = In - Prev; +if (Unwrap > 0.5f) { + const float pi = 3.14159265359f; + const float two_pi = 6.28318530718f; + d_in = fmodf(d_in + pi, two_pi); + if (d_in < 0.0f) d_in += two_pi; + d_in -= pi; +} +const float raw = d_in / Dt; Prev = In; if (Fc > 0.0f) { const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * Fc * Dt)); diff --git a/Assets/NodeTemplates/Transforms.Derivative/node.json b/Assets/NodeTemplates/Transforms.Derivative/node.json index 8b224911..15275159 100644 --- a/Assets/NodeTemplates/Transforms.Derivative/node.json +++ b/Assets/NodeTemplates/Transforms.Derivative/node.json @@ -54,6 +54,12 @@ "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" + }, + "Unwrap": { + "description": "If >0.5, wrap (In-Prev) into (-pi, pi] before differentiating (use for electrical/mechanical angle).", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" } } } diff --git a/Assets/NodeTemplates/Transforms.SwitchToDuty/inline.cpp b/Assets/NodeTemplates/Transforms.SwitchToDuty/inline.cpp new file mode 100644 index 00000000..19333a17 --- /dev/null +++ b/Assets/NodeTemplates/Transforms.SwitchToDuty/inline.cpp @@ -0,0 +1,3 @@ +Duty_A = S_A * 100.0f; +Duty_B = S_B * 100.0f; +Duty_C = S_C * 100.0f; diff --git a/Assets/NodeTemplates/Transforms.SwitchToDuty/node.json b/Assets/NodeTemplates/Transforms.SwitchToDuty/node.json new file mode 100644 index 00000000..adab888c --- /dev/null +++ b/Assets/NodeTemplates/Transforms.SwitchToDuty/node.json @@ -0,0 +1,74 @@ +{ + "id": "Transforms.SwitchToDuty", + "displayName": "Switch States to Duty", + "defaultName": "SwitchToDuty", + "description": "Converts inverter switch states (0/1) to PWM duty cycles (0%/100%).", + "maxInstances": 1, + "isEntryPoint": false, + "domain": "tim_isr", + "inputPorts": [ + { + "name": "S_A", + "description": "Phase A high-side switch state (1 = on).", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "S_B", + "description": "Phase B high-side switch state (1 = on).", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "S_C", + "description": "Phase C high-side switch state (1 = on).", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "outputPorts": [ + { + "name": "Duty_A", + "description": "Phase A PWM duty cycle (0-100%).", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "Duty_B", + "description": "Phase B PWM duty cycle (0-100%).", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "Duty_C", + "description": "Phase C PWM duty cycle (0-100%).", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "parameterTypes": {} +} diff --git a/HybridADRCMPC-1.jsonl b/HybridADRCMPC-1.jsonl new file mode 100644 index 00000000..abe7f8ee --- /dev/null +++ b/HybridADRCMPC-1.jsonl @@ -0,0 +1,4450 @@ +{"type":"session_start","format":"rte-runtime-session-jsonl","version":2,"t":0,"started_at_utc":"2026-08-04T03:06:46.066Z","exported_at_utc":"2026-08-04T03:07:32.430Z","port":"/dev/ttyACM0","mode":"device","protocol":"legacy"} 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diff --git a/Lib/Simulation/CMakeLists.txt b/Lib/Simulation/CMakeLists.txt new file mode 100644 index 00000000..a090749f --- /dev/null +++ b/Lib/Simulation/CMakeLists.txt @@ -0,0 +1,7 @@ +cmake_minimum_required(VERSION 3.24) +project(Simulation VERSION 0.1.0 LANGUAGES CXX) + +# Header-only plant/controller helpers used by hybrid_adrc_mpcc (standalone +# package under hybrid_adrc_mpcc/ with its own CMake via run_hybrid.sh). +add_library(Simulation INTERFACE) +target_include_directories(Simulation INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include) diff --git a/Lib/Simulation/hybrid_adrc_mpcc/CMakeLists.txt b/Lib/Simulation/hybrid_adrc_mpcc/CMakeLists.txt new file mode 100644 index 00000000..d1ed19cf --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.24) +project(hybrid_adrc_mpcc LANGUAGES CXX) + +# Fully standalone package — does not modify parent Simulation/CMakeLists.txt. +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +set(SIM_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/..") +set(REPO_RESULTS "${CMAKE_CURRENT_SOURCE_DIR}/../../../results/adrc_mpcc_hybrid") + +add_library(hybrid_adrc_mpcc_headers INTERFACE) +target_include_directories(hybrid_adrc_mpcc_headers INTERFACE + ${CMAKE_CURRENT_SOURCE_DIR}/include + ${SIM_ROOT}/include +) + +add_executable(adrc_mpcc_hybrid_sim adrc_mpcc_hybrid_sim.cpp) +target_link_libraries(adrc_mpcc_hybrid_sim PRIVATE hybrid_adrc_mpcc_headers) + +enable_testing() +find_package(GTest QUIET) +if(GTest_FOUND) + add_executable(test_adrc_mpcc_hybrid test_adrc_mpcc_hybrid.cpp) + target_link_libraries(test_adrc_mpcc_hybrid PRIVATE hybrid_adrc_mpcc_headers GTest::gtest_main) + include(GoogleTest) + gtest_discover_tests(test_adrc_mpcc_hybrid) +else() + # Fallback: compile a tiny no-gtest smoke binary is skipped; use run_hybrid.sh --test with system gtest if present. + message(STATUS "GTest not found — unit test target skipped. Sim binary still builds.") +endif() diff --git a/Lib/Simulation/hybrid_adrc_mpcc/HOWTO_TEST.txt b/Lib/Simulation/hybrid_adrc_mpcc/HOWTO_TEST.txt new file mode 100644 index 00000000..85a4ad3d --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/HOWTO_TEST.txt @@ -0,0 +1,18 @@ +Hybrid ADRC + MPC (simulation only) — Gen6-like locked-rotor current loop + +This package is standalone under Lib/Simulation/hybrid_adrc_mpcc/. +It does not change FOC, LADRC, or MPCC firmware graphs. + +Run: + ./Lib/Simulation/hybrid_adrc_mpcc/run_hybrid.sh + +Outputs: + results/adrc_mpcc_hybrid/*.csv + results/adrc_mpcc_hybrid/plots/*.png + results/adrc_mpcc_hybrid/metrics_summary.csv + +Cases: + 1) iq step 0 -> 3 A (locked rotor) + 2) same with controller L -20% mismatch + +NOT for Gen6 flash yet — simulation review only while ADRC hardware testing continues. diff --git a/Lib/Simulation/hybrid_adrc_mpcc/adrc_mpcc_hybrid_sim.cpp b/Lib/Simulation/hybrid_adrc_mpcc/adrc_mpcc_hybrid_sim.cpp new file mode 100644 index 00000000..005189e8 --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/adrc_mpcc_hybrid_sim.cpp @@ -0,0 +1,209 @@ +/** + * Standalone closed-loop test for hybrid ADRC+FCS-MPCC. + * Writes CSVs + metrics under results/adrc_mpcc_hybrid/ — does not touch + * existing paper_foc_vs_mpc or mpcc_closed_loop outputs. + * + * Build/run from this folder via ./run_hybrid.sh + */ + +#include +#include +#include +#include +#include +#include +#include + +#include "AdrcMpccHybrid.h" +#include "simulation/BenchMotor.h" +#include "simulation/PmsmPlant.h" +#include "simulation/TwoLevelInverter.h" + +namespace fs = std::filesystem; +using hybrid_adrc_mpcc::AdrcMpccHybrid; +using hybrid_adrc_mpcc::HybridInputs; +using hybrid_adrc_mpcc::HybridParams; +using namespace simulation; + +struct Sample { + double t = 0.0; + float id = 0.0f; + float iq = 0.0f; + float id_ref = 0.0f; + float iq_ref = 0.0f; + float omega_rpm = 0.0f; + float te = 0.0f; + float fhat_d = 0.0f; + float fhat_q = 0.0f; + float cost = 0.0f; + int sw = 0; +}; + +static void writeCsv(const fs::path& path, const std::vector& rows) { + std::ofstream out(path); + out << "time,id,iq,id_ref,iq_ref,omega_rpm,te,fhat_d,fhat_q,cost,switching_state\n"; + out << std::setprecision(9); + for (const auto& r : rows) { + out << r.t << ',' << r.id << ',' << r.iq << ',' << r.id_ref << ',' << r.iq_ref << ',' + << r.omega_rpm << ',' << r.te << ',' << r.fhat_d << ',' << r.fhat_q << ',' << r.cost << ',' + << r.sw << '\n'; + } +} + +struct Metrics { + float iq_rmse = 0.0f; + float id_rmse = 0.0f; + float iq_rise_ms = 0.0f; + float te_ripple_rms = 0.0f; +}; + +static Metrics computeMetrics(const std::vector& s, float iq_target, double metric_start) { + Metrics m; + if (s.empty()) return m; + double sum_iq = 0.0, sum_id = 0.0, sum_te = 0.0; + int n = 0; + float te_mean = 0.0f; + int n_te = 0; + for (const auto& r : s) { + if (r.t < metric_start) continue; + sum_iq += (r.iq - r.iq_ref) * (r.iq - r.iq_ref); + sum_id += (r.id - r.id_ref) * (r.id - r.id_ref); + te_mean += r.te; + ++n_te; + ++n; + } + if (n > 0) { + m.iq_rmse = static_cast(std::sqrt(sum_iq / n)); + m.id_rmse = static_cast(std::sqrt(sum_id / n)); + } + if (n_te > 0) te_mean /= static_cast(n_te); + for (const auto& r : s) { + if (r.t < metric_start) continue; + const float e = r.te - te_mean; + sum_te += e * e; + } + if (n_te > 0) m.te_ripple_rms = static_cast(std::sqrt(sum_te / n_te)); + + const float thr_lo = 0.1f * std::fabs(iq_target); + const float thr_hi = 0.9f * std::fabs(iq_target); + double t10 = -1.0, t90 = -1.0; + for (const auto& r : s) { + if (r.t < 0.02) continue; + if (t10 < 0.0 && std::fabs(r.iq) >= thr_lo) t10 = r.t; + if (t90 < 0.0 && std::fabs(r.iq) >= thr_hi) { + t90 = r.t; + break; + } + } + if (t10 >= 0.0 && t90 >= t10) { + m.iq_rise_ms = static_cast((t90 - t10) * 1000.0); + } + (void)iq_target; + return m; +} + +/** Locked-rotor current-loop step (shaft held). Appropriate with no load motor. */ +static std::vector runLockedRotorIqStep(const PmsmParameters& plant_motor, + const PmsmParameters& ctrl_motor, float ts, float vdc, + float iq_cmd, double t_end) { + PmsmPlant plant(plant_motor); + plant.reset({}); + + HybridParams hp; + hp.motor = ctrl_motor; + hp.ts = ts; + hp.i_base = 20.0f; + hp.i_max = 40.0f; + hp.omega_o = 2000.0f; + AdrcMpccHybrid ctrl(hp); + ctrl.reset(); + + std::vector rows; + rows.reserve(static_cast(t_end / ts) + 8); + + for (double t = 0.0; t < t_end; t += ts) { + // Hold shaft: zero speed, advance electrical angle slowly for Park continuity. + plant.state().omega_m = 0.0f; + plant.state().omega_e = 0.0f; + plant.state().theta_e = static_cast(2.0 * 3.14159265 * 5.0 * t); // 5 Hz elec. + + const float iq_ref = (t >= 0.02) ? iq_cmd : 0.0f; + const float id_ref = 0.0f; + + HybridInputs in; + in.id = plant.state().id; + in.iq = plant.state().iq; + in.id_ref = id_ref; + in.iq_ref = iq_ref; + in.theta_e = plant.state().theta_e; + in.omega_e = 0.0f; + in.vdc = vdc; + in.enable = true; + + const auto out = ctrl.update(in); + Dq vdq; + parkAlphaBetaToDq({out.valpha, out.vbeta}, plant.state().theta_e, vdq); + plant.step(vdq.d, vdq.q, /*Tl=*/0.0f, ts); + // Re-assert locked rotor after plant mechanical integration. + plant.state().omega_m = 0.0f; + plant.state().omega_e = 0.0f; + + Sample r; + r.t = t; + r.id = plant.state().id; + r.iq = plant.state().iq; + r.id_ref = id_ref; + r.iq_ref = iq_ref; + r.omega_rpm = 0.0f; + r.te = plant.state().torque_em; + r.fhat_d = out.fhat_d; + r.fhat_q = out.fhat_q; + r.cost = out.min_cost; + r.sw = static_cast(out.switching_state); + rows.push_back(r); + } + return rows; +} + +int main(int argc, char** argv) { + fs::path out_dir = "results/adrc_mpcc_hybrid"; + if (argc > 1) { + out_dir = argv[1]; + } + fs::create_directories(out_dir); + + const PmsmParameters motor = makeGen6BenchMotor(); + const float ts = 200e-6f; + const float vdc = 48.0f; + const float iq_cmd = 3.0f; + const double t_end = 0.15; + + std::cout << "Hybrid ADRC+MPCC simulation (Gen6-like, locked-rotor current loop)\n"; + std::cout << " out: " << out_dir << "\n"; + + const auto nom = runLockedRotorIqStep(motor, motor, ts, vdc, iq_cmd, t_end); + writeCsv(out_dir / "case1_iq_step_hybrid.csv", nom); + const Metrics m1 = computeMetrics(nom, iq_cmd, 0.05); + + PmsmParameters mism = motor; + mism.ld *= 0.8f; + mism.lq *= 0.8f; + const auto mis = runLockedRotorIqStep(motor, mism, ts, vdc, iq_cmd, t_end); + writeCsv(out_dir / "case2_iq_step_L_mismatch_m20_hybrid.csv", mis); + const Metrics m2 = computeMetrics(mis, iq_cmd, 0.05); + + { + std::ofstream m(out_dir / "metrics_summary.csv"); + m << "case,id_rmse_A,iq_rmse_A,iq_rise_ms,te_ripple_rms_Nm\n"; + m << "iq_step_locked_rotor," << m1.id_rmse << ',' << m1.iq_rmse << ',' << m1.iq_rise_ms << ',' + << m1.te_ripple_rms << '\n'; + m << "iq_step_L_mismatch_m20," << m2.id_rmse << ',' << m2.iq_rmse << ',' << m2.iq_rise_ms << ',' + << m2.te_ripple_rms << '\n'; + } + + std::cout << std::fixed << std::setprecision(4); + std::cout << " case1 iq_rmse=" << m1.iq_rmse << " A rise=" << m1.iq_rise_ms << " ms\n"; + std::cout << " case2 (L-20%) iq_rmse=" << m2.iq_rmse << " A rise=" << m2.iq_rise_ms << " ms\n"; + std::cout << "Done.\n"; + return 0; +} diff --git a/Lib/Simulation/hybrid_adrc_mpcc/include/AdrcMpccHybrid.h b/Lib/Simulation/hybrid_adrc_mpcc/include/AdrcMpccHybrid.h new file mode 100644 index 00000000..d1b73ce0 --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/include/AdrcMpccHybrid.h @@ -0,0 +1,223 @@ +#pragma once + +/** + * Hybrid ADRC + modulated FCS-MPCC current controller (new code only). + * + * Architecture (ESO-assisted predictive duty control): + * 1) d/q Linear ESOs estimate total disturbance f̂_d, f̂_q from + * previously applied v_d, v_q and measured i_d, i_q. + * 2) Deadbeat voltage from ADRC plant form: + * i* = i + Ts (f̂ + b0 v) → v = ((i*-i)/Ts - f̂) / b0 + * 3) Nearest active inverter vector + duty vs zero (Zhang Method II style) + * so Gen6-like low-L machines can track without one-step current blow-up. + * + * Does not modify MpccController.h, Control.Ladrc, or paper_foc_vs_mpc.cpp. + */ + +#include +#include +#include + +#include "LinearAdrc.h" +#include "simulation/PmsmPlant.h" +#include "simulation/TwoLevelInverter.h" +#include "simulation/Transforms.h" + +namespace hybrid_adrc_mpcc { + +struct HybridParams { + simulation::PmsmParameters motor; + float ts = 200e-6f; + float i_base = 20.0f; + float i_max = 40.0f; + float omega_o = 2500.0f; // ESO bandwidth [rad/s] + float v_limit_factor = 0.95f; +}; + +struct HybridInputs { + float id = 0.0f; + float iq = 0.0f; + float id_ref = 0.0f; + float iq_ref = 0.0f; + float theta_e = 0.0f; + float omega_e = 0.0f; + float vdc = 48.0f; + bool enable = true; +}; + +struct HybridOutputs { + bool sa = false; + bool sb = false; + bool sc = false; + simulation::SwitchingState switching_state = simulation::SwitchingState::S000; + float predicted_id = 0.0f; + float predicted_iq = 0.0f; + float min_cost = std::numeric_limits::infinity(); + float vd = 0.0f; + float vq = 0.0f; + float valpha = 0.0f; + float vbeta = 0.0f; + float duty_active = 0.0f; + float fhat_d = 0.0f; + float fhat_q = 0.0f; + bool valid = false; +}; + +class AdrcMpccHybrid { +public: + explicit AdrcMpccHybrid(HybridParams params = {}) : params_(params) { configureEsos(); } + + const HybridParams& parameters() const { return params_; } + + void setParameters(const HybridParams& params) { + params_ = params; + configureEsos(); + } + + void reset() { + configureEsos(); + eso_d_.reset(); + eso_q_.reset(); + prev_cmd_ = {}; + vd_prev_ = 0.0f; + vq_prev_ = 0.0f; + initialized_ = false; + } + + HybridOutputs update(const HybridInputs& in) { + HybridOutputs out; + if (!in.enable || !validate(in)) { + out.sa = prev_cmd_.sa; + out.sb = prev_cmd_.sb; + out.sc = prev_cmd_.sc; + out.switching_state = simulation::commandToSwitchingState(prev_cmd_); + out.fhat_d = eso_d_.z2(); + out.fhat_q = eso_q_.z2(); + return out; + } + + if (initialized_) { + eso_d_.updateObserver(in.id, vd_prev_); + eso_q_.updateObserver(in.iq, vq_prev_); + } else { + eso_d_.reset(in.id); + eso_q_.reset(in.iq); + initialized_ = true; + } + + const float f_d = eso_d_.z2(); + const float f_q = eso_q_.z2(); + const float b0_d = eso_d_.params().b0; + const float b0_q = eso_q_.params().b0; + const float ts = params_.ts; + + out.fhat_d = f_d; + out.fhat_q = f_q; + + // Deadbeat voltage in ADRC coordinates: v = ((i*-i)/Ts - f̂) / b0 + float vd_ref = ((in.id_ref - in.id) / ts - f_d) / b0_d; + float vq_ref = ((in.iq_ref - in.iq) / ts - f_q) / b0_q; + + const float v_max = (in.vdc / simulation::kSqrt3) * params_.v_limit_factor; + const float v_mag = std::sqrt(vd_ref * vd_ref + vq_ref * vq_ref); + if (v_mag > v_max && v_mag > 1.0e-9f) { + const float s = v_max / v_mag; + vd_ref *= s; + vq_ref *= s; + } + + simulation::AlphaBeta u_ref; + simulation::inverseParkDqToAlphaBeta({vd_ref, vq_ref}, in.theta_e, u_ref); + + simulation::SwitchingState best_state = simulation::SwitchingState::S100; + float best_dist = std::numeric_limits::infinity(); + for (const auto state : simulation::kAllSwitchingStates) { + if (state == simulation::SwitchingState::S000 || state == simulation::SwitchingState::S111) { + continue; + } + const simulation::AlphaBeta u = simulation::voltageAlphaBetaFromState(in.vdc, state); + const float dist = (u.alpha - u_ref.alpha) * (u.alpha - u_ref.alpha) + + (u.beta - u_ref.beta) * (u.beta - u_ref.beta); + if (dist < best_dist) { + best_dist = dist; + best_state = state; + } + } + + const simulation::AlphaBeta u_opt = simulation::voltageAlphaBetaFromState(in.vdc, best_state); + const float denom = u_opt.alpha * u_opt.alpha + u_opt.beta * u_opt.beta; + float d_opt = + (denom > 1.0e-12f) ? (u_ref.alpha * u_opt.alpha + u_ref.beta * u_opt.beta) / denom : 0.0f; + d_opt = std::clamp(d_opt, 0.0f, 1.0f); + + const float valpha = d_opt * u_opt.alpha; + const float vbeta = d_opt * u_opt.beta; + simulation::Dq vdq; + simulation::parkAlphaBetaToDq({valpha, vbeta}, in.theta_e, vdq); + + const float id_pred = in.id + ts * (f_d + b0_d * vdq.d); + const float iq_pred = in.iq + ts * (f_q + b0_q * vdq.q); + + const auto cmd = simulation::switchingStateToCommand(best_state); + out.sa = cmd.sa; + out.sb = cmd.sb; + out.sc = cmd.sc; + out.switching_state = best_state; + out.valpha = valpha; + out.vbeta = vbeta; + out.vd = vdq.d; + out.vq = vdq.q; + out.duty_active = d_opt; + out.predicted_id = id_pred; + out.predicted_iq = iq_pred; + out.min_cost = normalizedCost(in.id_ref, in.iq_ref, id_pred, iq_pred, params_.i_base); + out.valid = true; + + prev_cmd_ = cmd; + vd_prev_ = vdq.d; + vq_prev_ = vdq.q; + return out; + } + + static float normalizedCost(float id_ref, float iq_ref, float id_pred, float iq_pred, float i_base) { + const float base = (i_base > 0.0f) ? i_base : 1.0f; + const float ed = (id_ref - id_pred) / base; + const float eq = (iq_ref - iq_pred) / base; + return ed * ed + eq * eq; + } + +private: + void configureEsos() { + LinearAdrcParams pd; + pd.dt = params_.ts; + pd.b0 = (params_.motor.ld > 0.0f) ? (1.0f / params_.motor.ld) : 10000.0f; + pd.omega_o = params_.omega_o; + pd.omega_c = params_.omega_o / 3.0f; + eso_d_.params() = pd; + + LinearAdrcParams pq = pd; + pq.b0 = (params_.motor.lq > 0.0f) ? (1.0f / params_.motor.lq) : 10000.0f; + eso_q_.params() = pq; + } + + bool validate(const HybridInputs& in) const { + if (!(params_.ts > 0.0f) || params_.motor.ld <= 0.0f || params_.motor.lq <= 0.0f) { + return false; + } + if (!(in.vdc > 0.0f)) { + return false; + } + const auto ok = [](float x) { return std::isfinite(x); }; + return ok(in.id) && ok(in.iq) && ok(in.id_ref) && ok(in.iq_ref) && ok(in.theta_e); + } + + HybridParams params_; + LinearAdrc eso_d_; + LinearAdrc eso_q_; + simulation::SwitchCommand prev_cmd_; + float vd_prev_ = 0.0f; + float vq_prev_ = 0.0f; + bool initialized_ = false; +}; + +} // namespace hybrid_adrc_mpcc diff --git a/Lib/Simulation/hybrid_adrc_mpcc/include/LinearAdrc.h b/Lib/Simulation/hybrid_adrc_mpcc/include/LinearAdrc.h new file mode 100644 index 00000000..eca630c6 --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/include/LinearAdrc.h @@ -0,0 +1,94 @@ +#pragma once + +/** + * First-order Linear ADRC / ESO (Gao bandwidth parameterization). + * Matches RTE Assets/NodeTemplates/Control.Ladrc — used here only as an + * observer that estimates total disturbance for hybrid MPC. + * + * Plant form: dy/dt = f + b0 * u + * ESO: + * e = z1 - y + * z1 += dt * (z2 + b0*u_prev - 2*ωo*e) + * z2 += dt * (-ωo^2 * e) + */ + +#include + +namespace hybrid_adrc_mpcc { + +struct LinearAdrcParams { + float dt = 200e-6f; + float b0 = 10000.0f; // ≈ 1/L for current loop + float omega_c = 800.0f; // controller bandwidth (unused in ESO-only mode) + float omega_o = 2400.0f; // observer bandwidth + float u_max = 1.0e6f; + float u_min = -1.0e6f; +}; + +class LinearAdrc { +public: + explicit LinearAdrc(LinearAdrcParams p = {}) : p_(p) {} + + void reset(float y0 = 0.0f) { + z1_ = y0; + z2_ = 0.0f; + u_prev_ = 0.0f; + cold_ = true; + } + + const LinearAdrcParams& params() const { return p_; } + LinearAdrcParams& params() { return p_; } + + float z1() const { return z1_; } + float z2() const { return z2_; } // estimated total disturbance f̂ + float u_prev() const { return u_prev_; } + + /** Update ESO with measurement y and previously applied input u_prev. */ + void updateObserver(float y, float u_applied) { + float dt = p_.dt; + float b0 = p_.b0; + float wo = p_.omega_o; + if (!(dt > 0.0f)) dt = 200e-6f; + if (!(std::fabs(b0) > 1.0e-6f)) b0 = 10000.0f; + if (!(wo > 0.0f)) wo = 2400.0f; + + if (cold_) { + z1_ = y; + z2_ = 0.0f; + cold_ = false; + } + + const float beta1 = 2.0f * wo; + const float beta2 = wo * wo; + const float e = z1_ - y; + z1_ += dt * (z2_ + b0 * u_applied - beta1 * e); + z2_ += dt * (-beta2 * e); + u_prev_ = u_applied; + } + + /** + * Classic LADRC control law (for standalone ADRC tests if needed): + * u0 = ωc * (r - z1); u = (u0 - z2) / b0 + */ + float control(float setpoint, float y, float u_applied_prev) { + updateObserver(y, u_applied_prev); + float b0 = p_.b0; + float wc = p_.omega_c; + if (!(std::fabs(b0) > 1.0e-6f)) b0 = 10000.0f; + if (!(wc > 0.0f)) wc = 800.0f; + float u = (wc * (setpoint - z1_) - z2_) / b0; + if (u > p_.u_max) u = p_.u_max; + if (u < p_.u_min) u = p_.u_min; + u_prev_ = u; + return u; + } + +private: + LinearAdrcParams p_; + float z1_ = 0.0f; + float z2_ = 0.0f; + float u_prev_ = 0.0f; + bool cold_ = true; +}; + +} // namespace hybrid_adrc_mpcc diff --git a/Lib/Simulation/hybrid_adrc_mpcc/plot_hybrid.py b/Lib/Simulation/hybrid_adrc_mpcc/plot_hybrid.py new file mode 100755 index 00000000..e0d65b3a --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/plot_hybrid.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +"""Plot hybrid ADRC+MPCC simulation CSVs. Does not touch other result folders.""" + +from __future__ import annotations + +import sys +from pathlib import Path + +import matplotlib + +matplotlib.use("Agg") +import matplotlib.pyplot as plt +import pandas as pd + + +def plot_case(csv_path: Path, out_dir: Path) -> None: + df = pd.read_csv(csv_path) + fig, axes = plt.subplots(3, 1, figsize=(9, 8), sharex=True) + + axes[0].plot(df["time"], df["iq_ref"], "k--", label="iq*") + axes[0].plot(df["time"], df["iq"], label="iq") + axes[0].plot(df["time"], df["id"], label="id") + axes[0].set_ylabel("Current [A]") + axes[0].legend(loc="best") + axes[0].grid(True, alpha=0.3) + axes[0].set_title(csv_path.stem) + + axes[1].plot(df["time"], df["fhat_d"], label="fhat_d") + axes[1].plot(df["time"], df["fhat_q"], label="fhat_q") + axes[1].set_ylabel("ESO disturbance") + axes[1].legend(loc="best") + axes[1].grid(True, alpha=0.3) + + axes[2].plot(df["time"], df["omega_rpm"], label="rpm") + axes[2].set_ylabel("Speed [rpm]") + axes[2].set_xlabel("Time [s]") + axes[2].grid(True, alpha=0.3) + + fig.tight_layout() + out = out_dir / "plots" / f"{csv_path.stem}.png" + out.parent.mkdir(parents=True, exist_ok=True) + fig.savefig(out, dpi=140) + plt.close(fig) + print(f"wrote {out}") + + +def main() -> int: + out_dir = Path(sys.argv[1] if len(sys.argv) > 1 else "results/adrc_mpcc_hybrid") + for name in ( + "case1_iq_step_hybrid.csv", + "case2_iq_step_L_mismatch_m20_hybrid.csv", + ): + p = out_dir / name + if p.exists(): + plot_case(p, out_dir) + metrics = out_dir / "metrics_summary.csv" + if metrics.exists(): + print(metrics.read_text()) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/Lib/Simulation/hybrid_adrc_mpcc/run_hybrid.sh b/Lib/Simulation/hybrid_adrc_mpcc/run_hybrid.sh new file mode 100755 index 00000000..d54a0876 --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/run_hybrid.sh @@ -0,0 +1,33 @@ +#!/usr/bin/env bash +# Build and run the standalone hybrid ADRC+MPCC package. +# Does not modify or rebuild the parent Simulation targets. +set -euo pipefail + +ROOT="$(cd "$(dirname "$0")" && pwd)" +REPO="$(cd "$ROOT/../../.." && pwd)" +BUILD="$ROOT/build" +OUT="$REPO/results/adrc_mpcc_hybrid" + +mkdir -p "$BUILD" "$OUT" + +cmake -S "$ROOT" -B "$BUILD" -G Ninja +cmake --build "$BUILD" -j8 + +if [[ "${1:-}" == "--test" ]]; then + if [[ -x "$BUILD/test_adrc_mpcc_hybrid" ]]; then + ctest --test-dir "$BUILD" --output-on-failure + else + echo "Unit test binary not built (GTest missing). Sim-only OK." + fi +fi + +"$BUILD/adrc_mpcc_hybrid_sim" "$OUT" + +if command -v python3 >/dev/null 2>&1; then + MPLCONFIGDIR="$OUT/.mplconfig" mkdir -p "$OUT/.mplconfig" + MPLCONFIGDIR="$OUT/.mplconfig" python3 "$ROOT/plot_hybrid.py" "$OUT" || true +fi + +echo "" +echo "Results in: $OUT" +ls -la "$OUT" diff --git a/Lib/Simulation/hybrid_adrc_mpcc/test_adrc_mpcc_hybrid.cpp b/Lib/Simulation/hybrid_adrc_mpcc/test_adrc_mpcc_hybrid.cpp new file mode 100644 index 00000000..66947bb4 --- /dev/null +++ b/Lib/Simulation/hybrid_adrc_mpcc/test_adrc_mpcc_hybrid.cpp @@ -0,0 +1,68 @@ +#include +#include + +#include "AdrcMpccHybrid.h" +#include "LinearAdrc.h" +#include "simulation/BenchMotor.h" + +using hybrid_adrc_mpcc::AdrcMpccHybrid; +using hybrid_adrc_mpcc::HybridInputs; +using hybrid_adrc_mpcc::HybridParams; +using hybrid_adrc_mpcc::LinearAdrc; +using hybrid_adrc_mpcc::LinearAdrcParams; + +TEST(LinearAdrc, ObserverMovesTowardStep) { + LinearAdrcParams p; + p.dt = 200e-6f; + p.b0 = 1.0f / 120e-6f; + p.omega_o = 3000.0f; + LinearAdrc eso(p); + eso.reset(0.0f); + + float y = 0.0f; + float u = 0.0f; + for (int k = 0; k < 500; ++k) { + if (k == 50) { + u = 1.0f; // step voltage + } + // Simple integrator plant: dy/dt = b0*u (f=0) + y += p.dt * (p.b0 * u); + eso.updateObserver(y, u); + } + EXPECT_NEAR(eso.z1(), y, 0.2f); + EXPECT_NEAR(eso.z2(), 0.0f, 500.0f); // disturbance near 0 for matched plant +} + +TEST(AdrcMpccHybrid, ProducesValidSwitchingState) { + HybridParams hp; + hp.motor = simulation::makeGen6BenchMotor(); + hp.ts = 200e-6f; + hp.omega_o = 2500.0f; + AdrcMpccHybrid ctrl(hp); + ctrl.reset(); + + HybridInputs in; + in.id = 0.0f; + in.iq = 0.0f; + in.id_ref = 0.0f; + in.iq_ref = 3.0f; + in.theta_e = 0.1f; + in.vdc = 48.0f; + const auto out = ctrl.update(in); + EXPECT_TRUE(out.valid); + EXPECT_GE(static_cast(out.switching_state), 0); + EXPECT_LE(static_cast(out.switching_state), 7); + EXPECT_GE(out.duty_active, 0.0f); + EXPECT_LE(out.duty_active, 1.0f); +} + +TEST(AdrcMpccHybrid, RejectsBadVdc) { + HybridParams hp; + hp.motor = simulation::makeGen6BenchMotor(); + AdrcMpccHybrid ctrl(hp); + HybridInputs in; + in.vdc = 0.0f; + in.iq_ref = 1.0f; + const auto out = ctrl.update(in); + EXPECT_FALSE(out.valid); +} diff --git a/Lib/Simulation/include/simulation/BenchMotor.h b/Lib/Simulation/include/simulation/BenchMotor.h new file mode 100644 index 00000000..d0a6a548 --- /dev/null +++ b/Lib/Simulation/include/simulation/BenchMotor.h @@ -0,0 +1,61 @@ +#pragma once + +/** + * Gen6 bench motor defaults matching the working FOC graph / calibration notes. + * Sources: + * - Assets/Examples/foc_demo.json (Dt, PI gains) + * - Assets/Examples/mpcc_demo.json (Rs/Ld/Lq placeholders + KV keys) + * - Images/Gen6FW/reminder.md (Ld/Lq/flux order of magnitude, 10 poles) + * + * Used only by the local FOC-vs-MPC paper comparison (does not touch RTE git). + */ + +#include "simulation/FocController.h" +#include "simulation/MpccController.h" +#include "simulation/PmsmPlant.h" + +namespace simulation { + +inline PmsmParameters makeGen6BenchMotor() { + PmsmParameters m; + m.rs = 0.05f; // Motor.Resistance.Avg default + m.ld = 70e-6f; // ~70 µH + m.lq = 120e-6f; // ~120 µH + m.psi_f = 0.072f; // flux-cal ~0.07–0.08 Wb + m.pole_pairs = 5; // Motor.Poles = 10 + m.inertia = 2.5e-4f; // small bench rotor (simulation) + m.viscous_friction = 5.0e-4f; + return m; +} + +/** FOC current-loop gains for a stable working Gen6-like current loop. + * foc_demo.json stores Kp=0.03 / Ki=10 (very soft). With calibrated flux + * (~0.072 Wb) and Vdc needed for 2000 rpm, those defaults lose current + * regulation as back-EMF grows. Here we use a moderate bandwidth PI that + * still spins the motor cleanly — slower than deadbeat MPC, as in the + * FOC-vs-MPC comparison literature. */ +inline FocParameters makeGen6FocParams(const PmsmParameters& motor, float ts = 200e-6f) { + FocParameters p; + p.motor = motor; + p.ts = ts; + // ωc ≈ 2π·250 rad/s → Kp~L·ωc, Ki~R·ωc (classic PMSM PI sizing) + p.kp_d = 0.12f; + p.ki_d = 80.0f; + p.kp_q = 0.18f; + p.ki_q = 80.0f; + p.aw_gain = 1.0f; + return p; +} + +inline MpccParameters makeGen6MpccParams(const PmsmParameters& motor, float ts = 200e-6f, + MPCCMode mode = MPCCMode::OptimalDutyCycle) { + MpccParameters p; + p.motor = motor; + p.ts = ts; + p.i_base = 20.0f; + p.i_max = 40.0f; + p.mode = mode; + return p; +} + +} // namespace simulation diff --git a/Lib/Simulation/include/simulation/FocController.h b/Lib/Simulation/include/simulation/FocController.h new file mode 100644 index 00000000..112e2a6a --- /dev/null +++ b/Lib/Simulation/include/simulation/FocController.h @@ -0,0 +1,101 @@ +#pragma once + +#include +#include + +#include "simulation/PmsmPlant.h" +#include "simulation/Svpwm.h" +#include "simulation/Transforms.h" + +namespace simulation { + +struct FocParameters { + float ts = 100e-6f; + float kp_d = 5.0f; + float ki_d = 3000.0f; + float kp_q = 5.0f; + float ki_q = 3000.0f; + float aw_gain = 1.0f; + PmsmParameters motor; +}; + +struct FocInputs { + float id = 0.0f; + float iq = 0.0f; + float id_ref = 0.0f; + float iq_ref = 0.0f; + float theta_e = 0.0f; + float omega_e = 0.0f; + float vdc = 540.0f; + bool enable = true; +}; + +struct FocOutputs { + float valpha = 0.0f; + float vbeta = 0.0f; + float vd = 0.0f; + float vq = 0.0f; + bool valid = false; +}; + +/** Vector PI current control + inverse Park + SVPWM (RTE FOC path). */ +class FocController { +public: + explicit FocController(FocParameters params = {}) : params_(params) {} + + FocOutputs update(const FocInputs& in) { + FocOutputs out; + if (!in.enable || !(in.vdc > 0.0f) || !(params_.ts > 0.0f)) { + return out; + } + + const float v_limit = (in.vdc / kSqrt3) * 0.95f; + + const float err_d = in.id_ref - in.id; + integral_d_ += err_d * params_.ts; + float vd_raw = params_.kp_d * err_d + params_.ki_d * integral_d_; + + const float err_q = in.iq_ref - in.iq; + integral_q_ += err_q * params_.ts; + float vq_raw = params_.kp_q * err_q + params_.ki_q * integral_q_; + + // Decoupling feedforward (standard dq FOC). + const float vd_ff = -in.omega_e * params_.motor.lq * in.iq; + const float vq_ff = in.omega_e * params_.motor.ld * in.id + in.omega_e * params_.motor.psi_f; + vd_raw += vd_ff; + vq_raw += vq_ff; + + float vd = std::clamp(vd_raw, -v_limit, v_limit); + float vq = std::clamp(vq_raw, -v_limit, v_limit); + + if (params_.aw_gain > 0.0f && params_.kp_d > 1e-4f && params_.ki_d > 1e-4f) { + integral_d_ -= (vd_raw - vd) * params_.ts * params_.aw_gain / (params_.kp_d * params_.ki_d); + } + if (params_.aw_gain > 0.0f && params_.kp_q > 1e-4f && params_.ki_q > 1e-4f) { + integral_q_ -= (vq_raw - vq) * params_.ts * params_.aw_gain / (params_.kp_q * params_.ki_q); + } + + AlphaBeta v_ab; + inverseParkDqToAlphaBeta({vd, vq}, in.theta_e, v_ab); + const AlphaBeta v_pwm = svpwmAlphaBeta(v_ab.alpha, v_ab.beta, in.vdc); + + out.vd = vd; + out.vq = vq; + out.valpha = v_pwm.alpha; + out.vbeta = v_pwm.beta; + out.valid = true; + return out; + } + + void reset() { + integral_d_ = 0.0f; + integral_q_ = 0.0f; + } + +private: + FocParameters params_; + float integral_d_ = 0.0f; + float integral_q_ = 0.0f; +}; + +} // namespace simulation diff --git a/Lib/Simulation/include/simulation/MpccController.h b/Lib/Simulation/include/simulation/MpccController.h new file mode 100644 index 00000000..4d3748b9 --- /dev/null +++ b/Lib/Simulation/include/simulation/MpccController.h @@ -0,0 +1,356 @@ +#pragma once + +/** + * @file MpccController.h + * @brief Finite-control-set model-predictive current control (FCS-MPCC) + * for a three-phase PMSM / two-level VSI. + * + * Technical reference (improved MPCC modes): + * Y. Zhang, D. Xu, J. Liu, S. Gao, and W. Xu, + * "Performance Improvement of Model-Predictive Current Control + * of Permanent Magnet Synchronous Motor Drives," + * IEEE Transactions on Industry Applications, + * vol. 53, no. 4, pp. 3683-3695, July/August 2017. + * DOI: 10.1109/TIA.2017.2690998. + * + * Prediction and cost evaluation are implemented in the synchronous dq + * frame (project Stage 6). Optimal-duty mode follows Zhang Method II + * (active + zero vector) but with a consistent dq deadbeat voltage and + * per-vector duty search — the previous αβ/dq mix was incorrect and + * unstable. + */ + +#include +#include +#include +#include +#include + +#include "simulation/PmsmPlant.h" +#include "simulation/TwoLevelInverter.h" +#include "simulation/Transforms.h" + +namespace simulation { + +enum class MPCCMode { + ConventionalOneStep, // one discrete vector per sample + DelayCompensated, // Heun one-step delay compensation in dq + BackEMFCompensated, // delay compensation + model cross-coupling EMF + OptimalDutyCycle // Method II: best active vector + duty with zero vector +}; + +struct MpccParameters { + PmsmParameters motor; + float ts = 100e-6f; + float i_base = 10.0f; + float i_max = 30.0f; + float current_limit_penalty = 1.0e6f; + float cost_tie_tolerance = 1.0e-9f; + MPCCMode mode = MPCCMode::ConventionalOneStep; +}; + +struct MpccInputs { + float id = 0.0f; + float iq = 0.0f; + float id_ref = 0.0f; + float iq_ref = 0.0f; + float theta_e = 0.0f; + float omega_e = 0.0f; + float vdc = 540.0f; + bool enable = true; +}; + +struct MpccOutputs { + bool sa = false; + bool sb = false; + bool sc = false; + SwitchingState switching_state = SwitchingState::S000; + float predicted_id = 0.0f; + float predicted_iq = 0.0f; + float min_cost = std::numeric_limits::infinity(); + float valpha = 0.0f; + float vbeta = 0.0f; + float vd = 0.0f; + float vq = 0.0f; + float duty_active = 1.0f; + bool valid = false; +}; + +struct MpccHistory { + float vd_prev = 0.0f; + float vq_prev = 0.0f; + float valpha_prev = 0.0f; + float vbeta_prev = 0.0f; + bool initialized = false; +}; + +class MpccController { +public: + explicit MpccController(MpccParameters params = {}) : params_(params), prev_cmd_({false, false, false}) {} + + const MpccParameters& parameters() const { return params_; } + MpccParameters& parameters() { return params_; } + + void reset() { + prev_cmd_ = {}; + history_ = {}; + } + + MpccOutputs update(const MpccInputs& in) { + MpccOutputs out; + if (!in.enable || !validateInputs(in)) { + out.sa = prev_cmd_.sa; + out.sb = prev_cmd_.sb; + out.sc = prev_cmd_.sc; + out.switching_state = commandToSwitchingState(prev_cmd_); + return out; + } + + switch (params_.mode) { + case MPCCMode::ConventionalOneStep: + out = evaluateConventional(in); + break; + case MPCCMode::DelayCompensated: + out = evaluateDelayCompensated(in, /*use_model_emf=*/false); + break; + case MPCCMode::BackEMFCompensated: + out = evaluateDelayCompensated(in, /*use_model_emf=*/true); + break; + case MPCCMode::OptimalDutyCycle: + out = evaluateOptimalDuty(in); + break; + } + + if (out.valid) { + prev_cmd_ = {out.sa, out.sb, out.sc}; + history_.vd_prev = out.vd; + history_.vq_prev = out.vq; + history_.valpha_prev = out.valpha; + history_.vbeta_prev = out.vbeta; + history_.initialized = true; + } + return out; + } + + /** One-step forward-Euler dq current prediction. */ + static Dq predictDqCurrent(const PmsmParameters& motor, float ts, float id, float iq, float omega_e, float vd, + float vq) { + if (!(ts > 0.0f) || motor.ld <= 0.0f || motor.lq <= 0.0f) { + return {id, iq}; + } + Dq next; + next.d = id + (ts / motor.ld) * (vd - motor.rs * id + omega_e * motor.lq * iq); + next.q = iq + (ts / motor.lq) * (vq - motor.rs * iq - omega_e * motor.ld * id - omega_e * motor.psi_f); + return next; + } + + static float normalizedCost(float id_ref, float iq_ref, float id_pred, float iq_pred, float i_base) { + const float base = (i_base > 0.0f) ? i_base : 1.0f; + const float ed = (id_ref - id_pred) / base; + const float eq = (iq_ref - iq_pred) / base; + return ed * ed + eq * eq; + } + +private: + bool validateInputs(const MpccInputs& in) const { + if (!(params_.ts > 0.0f) || params_.motor.ld <= 0.0f || params_.motor.lq <= 0.0f) { + return false; + } + if (!(in.vdc > 0.0f)) { + return false; + } + const auto finite = [](float x) { return std::isfinite(x); }; + return finite(in.id) && finite(in.iq) && finite(in.id_ref) && finite(in.iq_ref) && finite(in.theta_e) && + finite(in.omega_e); + } + + /** Model cross-coupling / PM voltage treated as known disturbance (dq). */ + static void modelEmfDq(const PmsmParameters& m, float id, float iq, float omega_e, float& ed, float& eq) { + ed = -omega_e * m.lq * iq; + eq = omega_e * m.ld * id + omega_e * m.psi_f; + } + + /** + * Heun-style one-step delay compensation in dq using the previously + * applied voltage (Zhang Sec. III-B idea, dq-consistent). + */ + Dq delayCompensatedDq(const MpccInputs& in, bool use_model_emf) const { + if (!history_.initialized) { + return {in.id, in.iq}; + } + const auto& m = params_.motor; + const float ts = params_.ts; + float ed = 0.0f; + float eq = 0.0f; + if (use_model_emf) { + modelEmfDq(m, in.id, in.iq, in.omega_e, ed, eq); + } else { + // Use model EMF even in DelayCompensated for physical consistency; + // without it the predictor ignores rotation/PM terms. + modelEmfDq(m, in.id, in.iq, in.omega_e, ed, eq); + } + + const float did_sp = (history_.vd_prev - m.rs * in.id - ed) / m.ld; + const float diq_sp = (history_.vq_prev - m.rs * in.iq - eq) / m.lq; + const float id_sp = in.id + ts * did_sp; + const float iq_sp = in.iq + ts * diq_sp; + + // Heun correction on resistive drop (Zhang eq. 11-12 style). + const float id_corr = id_sp + (-m.rs * (id_sp - in.id) * ts) / (2.0f * m.ld); + const float iq_corr = iq_sp + (-m.rs * (iq_sp - in.iq) * ts) / (2.0f * m.lq); + return {id_corr, iq_corr}; + } + + MpccOutputs evaluateConventional(const MpccInputs& in) { + return evaluateFcsOverStates(in, in.id, in.iq, 1.0f); + } + + MpccOutputs evaluateDelayCompensated(const MpccInputs& in, bool use_model_emf) { + const Dq i0 = delayCompensatedDq(in, use_model_emf); + return evaluateFcsOverStates(in, i0.d, i0.q, 1.0f); + } + + /** + * Zhang Method II (dq-consistent, synchronous sample — no extra delay): + * deadbeat v_dq* → αβ → nearest active vector → duty with zero-vector. + * Delay compensation is omitted because this plant applies u(k) with i(k). + */ + MpccOutputs evaluateOptimalDuty(const MpccInputs& in) { + const auto& m = params_.motor; + const float ts = params_.ts; + + const float vd_ref = + m.rs * in.id + (m.ld / ts) * (in.id_ref - in.id) - in.omega_e * m.lq * in.iq; + const float vq_ref = m.rs * in.iq + (m.lq / ts) * (in.iq_ref - in.iq) + + in.omega_e * m.ld * in.id + in.omega_e * m.psi_f; + + // Voltage limit (inscribed circle) to keep duty meaningful near base speed. + const float v_max = (in.vdc / kSqrt3) * 0.95f; + const float v_mag = std::sqrt(vd_ref * vd_ref + vq_ref * vq_ref); + float vd_c = vd_ref; + float vq_c = vq_ref; + if (v_mag > v_max && v_mag > 1.0e-9f) { + const float s = v_max / v_mag; + vd_c *= s; + vq_c *= s; + } + + AlphaBeta u_ref; + inverseParkDqToAlphaBeta({vd_c, vq_c}, in.theta_e, u_ref); + + SwitchingState best_state = SwitchingState::S100; + float best_dist = std::numeric_limits::infinity(); + for (const SwitchingState state : kAllSwitchingStates) { + if (state == SwitchingState::S000 || state == SwitchingState::S111) { + continue; + } + const AlphaBeta u = voltageAlphaBetaFromState(in.vdc, state); + const float dist = (u.alpha - u_ref.alpha) * (u.alpha - u_ref.alpha) + + (u.beta - u_ref.beta) * (u.beta - u_ref.beta); + if (dist < best_dist) { + best_dist = dist; + best_state = state; + } + } + + const AlphaBeta u_opt = voltageAlphaBetaFromState(in.vdc, best_state); + const float denom = u_opt.alpha * u_opt.alpha + u_opt.beta * u_opt.beta; + float d_opt = (denom > 1.0e-12f) ? (u_ref.alpha * u_opt.alpha + u_ref.beta * u_opt.beta) / denom : 0.0f; + d_opt = std::clamp(d_opt, 0.0f, 1.0f); + + const float valpha = d_opt * u_opt.alpha; + const float vbeta = d_opt * u_opt.beta; + Dq vdq; + parkAlphaBetaToDq({valpha, vbeta}, in.theta_e, vdq); + const Dq pred = predictDqCurrent(m, ts, in.id, in.iq, in.omega_e, vdq.d, vdq.q); + + const SwitchCommand cmd = switchingStateToCommand(best_state); + MpccOutputs out; + out.sa = cmd.sa; + out.sb = cmd.sb; + out.sc = cmd.sc; + out.switching_state = best_state; + out.valpha = valpha; + out.vbeta = vbeta; + out.vd = vdq.d; + out.vq = vdq.q; + out.duty_active = d_opt; + out.predicted_id = pred.d; + out.predicted_iq = pred.q; + out.min_cost = normalizedCost(in.id_ref, in.iq_ref, pred.d, pred.q, params_.i_base); + out.valid = true; + return out; + } + + MpccOutputs evaluateFcsOverStates(const MpccInputs& in, float id0, float iq0, float duty) { + MpccOutputs best; + best.min_cost = std::numeric_limits::infinity(); + + for (const SwitchingState state : kAllSwitchingStates) { + const AlphaBeta v_ab = voltageAlphaBetaFromState(in.vdc, state); + const float valpha = v_ab.alpha * duty; + const float vbeta = v_ab.beta * duty; + + Dq vdq; + parkAlphaBetaToDq({valpha, vbeta}, in.theta_e, vdq); + + const Dq pred = + predictDqCurrent(params_.motor, params_.ts, id0, iq0, in.omega_e, vdq.d, vdq.q); + + float cost = normalizedCost(in.id_ref, in.iq_ref, pred.d, pred.q, params_.i_base); + const float i_mag = std::sqrt(pred.d * pred.d + pred.q * pred.q); + if (i_mag > params_.i_max) { + cost += params_.current_limit_penalty; + } + + const SwitchCommand candidate = switchingStateToCommand(state); + if (cost < best.min_cost - params_.cost_tie_tolerance) { + best.min_cost = cost; + best.sa = candidate.sa; + best.sb = candidate.sb; + best.sc = candidate.sc; + best.switching_state = state; + best.predicted_id = pred.d; + best.predicted_iq = pred.q; + best.valpha = valpha; + best.vbeta = vbeta; + best.duty_active = duty; + best.vd = vdq.d; + best.vq = vdq.q; + best.valid = true; + } else if (std::abs(cost - best.min_cost) <= params_.cost_tie_tolerance && best.valid) { + const int cand_trans = countSwitchTransitions(prev_cmd_, candidate); + const SwitchCommand best_cmd{best.sa, best.sb, best.sc}; + const int best_trans = countSwitchTransitions(prev_cmd_, best_cmd); + const bool same_as_prev = + candidate.sa == prev_cmd_.sa && candidate.sb == prev_cmd_.sb && candidate.sc == prev_cmd_.sc; + const bool best_same = best_cmd.sa == prev_cmd_.sa && best_cmd.sb == prev_cmd_.sb && + best_cmd.sc == prev_cmd_.sc; + + if (cand_trans < best_trans || (cand_trans == best_trans && same_as_prev && !best_same) || + (cand_trans == best_trans && same_as_prev == best_same && + static_cast(state) < static_cast(best.switching_state))) { + best.sa = candidate.sa; + best.sb = candidate.sb; + best.sc = candidate.sc; + best.switching_state = state; + best.predicted_id = pred.d; + best.predicted_iq = pred.q; + best.valpha = valpha; + best.vbeta = vbeta; + best.duty_active = duty; + best.vd = vdq.d; + best.vq = vdq.q; + } + } + } + + return best; + } + + MpccParameters params_; + SwitchCommand prev_cmd_; + MpccHistory history_; +}; + +} // namespace simulation diff --git a/Lib/Simulation/include/simulation/PmsmPlant.h b/Lib/Simulation/include/simulation/PmsmPlant.h new file mode 100644 index 00000000..beda5779 --- /dev/null +++ b/Lib/Simulation/include/simulation/PmsmPlant.h @@ -0,0 +1,109 @@ +#pragma once + +#include +#include + +#include "simulation/Transforms.h" + +namespace simulation { + +struct PmsmParameters { + float rs = 2.2479f; + float ld = 17.65e-3f; + float lq = 17.65e-3f; + float psi_f = 0.4686f; + int pole_pairs = 4; + float inertia = 0.0254f; + float viscous_friction = 0.0f; +}; + +struct PmsmState { + float id = 0.0f; + float iq = 0.0f; + float ia = 0.0f; + float ib = 0.0f; + float ic = 0.0f; + float theta_e = 0.0f; + float omega_e = 0.0f; + float theta_m = 0.0f; + float omega_m = 0.0f; + float torque_em = 0.0f; +}; + +/** + * Discrete-time PMSM plant in the synchronous dq frame. + * Standard equations (SPMSM/IPMSM): + * v_d = R i_d + L_d di_d/dt - omega_e L_q i_q + * v_q = R i_q + L_q di_q/dt + omega_e L_d i_d + omega_e psi_f + * T_e = (3/2) p [psi_f i_q + (L_d - L_q) i_d i_q] + * J d omega_m/dt = T_e - T_L - B omega_m + * omega_e = p omega_m + */ +class PmsmPlant { +public: + explicit PmsmPlant(PmsmParameters params = {}) : params_(params) {} + + const PmsmParameters& parameters() const { return params_; } + PmsmState& state() { return state_; } + const PmsmState& state() const { return state_; } + + void reset(const PmsmState& initial = {}) { + state_ = initial; + syncAbcFromDq(); + const float p = static_cast(params_.pole_pairs); + state_.torque_em = 1.5f * p * (params_.psi_f * state_.iq + (params_.ld - params_.lq) * state_.id * state_.iq); + } + + void step(float vd, float vq, float load_torque, float dt) { + if (!(dt > 0.0f) || params_.ld <= 0.0f || params_.lq <= 0.0f) { + return; + } + + const float rs = params_.rs; + const float ld = params_.ld; + const float lq = params_.lq; + const float psi_f = params_.psi_f; + const float p = static_cast(params_.pole_pairs); + const float omega_e = state_.omega_e; + + const float did = (vd - rs * state_.id + omega_e * lq * state_.iq) / ld; + const float diq = (vq - rs * state_.iq - omega_e * ld * state_.id - omega_e * psi_f) / lq; + + state_.id += did * dt; + state_.iq += diq * dt; + + state_.torque_em = 1.5f * p * (psi_f * state_.iq + (ld - lq) * state_.id * state_.iq); + + const float domega_m = + (state_.torque_em - load_torque - params_.viscous_friction * state_.omega_m) / params_.inertia; + state_.omega_m += domega_m * dt; + state_.omega_e = p * state_.omega_m; + + state_.theta_e = wrapAngle0TwoPi(state_.theta_e + state_.omega_e * dt); + state_.theta_m = wrapAngle0TwoPi(state_.theta_m + state_.omega_m * dt); + + syncAbcFromDq(); + } + + void stepAlphaBeta(float valpha, float vbeta, float load_torque, float dt) { + Dq vdq; + parkAlphaBetaToDq({valpha, vbeta}, state_.theta_e, vdq); + step(vdq.d, vdq.q, load_torque, dt); + } + +private: + void syncAbcFromDq() { + AlphaBeta i_ab; + inverseParkDqToAlphaBeta({state_.id, state_.iq}, state_.theta_e, i_ab); + Abc abc; + inverseClarkeAlphaBetaToAbc(i_ab, abc); + state_.ia = abc.a; + state_.ib = abc.b; + state_.ic = abc.c; + } + + PmsmParameters params_; + PmsmState state_; +}; + +} // namespace simulation diff --git a/Lib/Simulation/include/simulation/Svpwm.h b/Lib/Simulation/include/simulation/Svpwm.h new file mode 100644 index 00000000..9aec7ad5 --- /dev/null +++ b/Lib/Simulation/include/simulation/Svpwm.h @@ -0,0 +1,32 @@ +#pragma once + +#include +#include + +#include "simulation/Transforms.h" + +namespace simulation { + +/** Averaged SVPWM — matches RTE `math.svpwm/inline.cpp` convention. */ +inline AlphaBeta svpwmAlphaBeta(float valpha_ref, float vbeta_ref, float vdc) { + AlphaBeta out{}; + if (!(vdc > 0.0f)) { + return out; + } + + const float v_max_linear = (vdc / kSqrt3) * 0.95f; + float valpha = valpha_ref; + float vbeta = vbeta_ref; + const float v_sq = valpha * valpha + vbeta * vbeta; + if (v_sq > v_max_linear * v_max_linear && v_sq > 1e-12f) { + const float scale = v_max_linear / std::sqrt(v_sq); + valpha *= scale; + vbeta *= scale; + } + + out.alpha = valpha; + out.beta = vbeta; + return out; +} + +} // namespace simulation diff --git a/Lib/Simulation/include/simulation/Transforms.h b/Lib/Simulation/include/simulation/Transforms.h new file mode 100644 index 00000000..d8d6a557 --- /dev/null +++ b/Lib/Simulation/include/simulation/Transforms.h @@ -0,0 +1,62 @@ +#pragma once + +#include + +namespace simulation { + +inline constexpr float kPi = 3.14159265358979323846f; +inline constexpr float kTwoPi = 2.0f * kPi; +inline constexpr float kInvSqrt3 = 0.5773502691896258f; +inline constexpr float kSqrt3 = 1.7320508075688772f; + +/** RTE graph convention (math.clarke / math.park / math.inverse_park). */ +struct AlphaBeta { + float alpha = 0.0f; + float beta = 0.0f; +}; + +struct Dq { + float d = 0.0f; + float q = 0.0f; +}; + +struct Abc { + float a = 0.0f; + float b = 0.0f; + float c = 0.0f; +}; + +inline void clarkeAbcToAlphaBeta(float ia, float ib, float ic, AlphaBeta& out) { + out.alpha = ia; + out.beta = (ib - ic) * kInvSqrt3; +} + +inline void parkAlphaBetaToDq(const AlphaBeta& in, float theta, Dq& out) { + const float c = std::cos(theta); + const float s = std::sin(theta); + out.d = in.alpha * c + in.beta * s; + out.q = -in.alpha * s + in.beta * c; +} + +inline void inverseParkDqToAlphaBeta(const Dq& in, float theta, AlphaBeta& out) { + const float c = std::cos(theta); + const float s = std::sin(theta); + out.alpha = in.d * c - in.q * s; + out.beta = in.d * s + in.q * c; +} + +inline void inverseClarkeAlphaBetaToAbc(const AlphaBeta& in, Abc& out) { + out.a = in.alpha; + out.b = -0.5f * in.alpha + 0.5f * kSqrt3 * in.beta; + out.c = -0.5f * in.alpha - 0.5f * kSqrt3 * in.beta; +} + +inline float wrapAngle0TwoPi(float rad) { + rad = std::fmod(rad, kTwoPi); + if (rad < 0.0f) { + rad += kTwoPi; + } + return rad; +} + +} // namespace simulation diff --git a/Lib/Simulation/include/simulation/TwoLevelInverter.h b/Lib/Simulation/include/simulation/TwoLevelInverter.h new file mode 100644 index 00000000..3491a777 --- /dev/null +++ b/Lib/Simulation/include/simulation/TwoLevelInverter.h @@ -0,0 +1,87 @@ +#pragma once + +#include +#include +#include + +#include "simulation/Transforms.h" + +namespace simulation { + +/** Eight valid two-level inverter switching states (upper switch ON = 1). */ +enum class SwitchingState : std::uint8_t { + S000 = 0, // 000 null + S100 = 1, // 100 + S110 = 2, // 110 + S010 = 3, // 010 + S011 = 4, // 011 + S001 = 5, // 001 + S101 = 6, // 101 + S111 = 7, // 111 null +}; + +struct SwitchCommand { + bool sa = false; + bool sb = false; + bool sc = false; +}; + +inline SwitchCommand switchingStateToCommand(SwitchingState state) { + switch (state) { + case SwitchingState::S000: return {false, false, false}; + case SwitchingState::S100: return {true, false, false}; + case SwitchingState::S110: return {true, true, false}; + case SwitchingState::S010: return {false, true, false}; + case SwitchingState::S011: return {false, true, true}; + case SwitchingState::S001: return {false, false, true}; + case SwitchingState::S101: return {true, false, true}; + case SwitchingState::S111: return {true, true, true}; + } + return {}; +} + +inline SwitchingState commandToSwitchingState(const SwitchCommand& cmd) { + const int index = (cmd.sa ? 1 : 0) | ((cmd.sb ? 2 : 0)) | ((cmd.sc ? 4 : 0)); + return static_cast(index); +} + +inline bool isValidSwitchingState(SwitchingState state) { + return static_cast(state) <= 7U; +} + +/** + * Stationary-frame phase-to-neutral voltage from upper-switch states. + * Zhang et al. (2017) eq. context / standard two-level VSI: + * v_alpha = (2/3) Vdc (Sa - (Sb+Sc)/2) + * v_beta = (1/sqrt(3)) Vdc (Sb - Sc) + * + * RTE hardware path uses averaged SVPWM duties (math.svpwm), not discrete states. + * This model is the FCS-MPCC plant interface used in this project. + */ +inline AlphaBeta voltageAlphaBetaFromSwitches(float vdc, const SwitchCommand& cmd) { + if (!(vdc > 0.0f) || !std::isfinite(vdc)) { + return {}; + } + const float sa = cmd.sa ? 1.0f : 0.0f; + const float sb = cmd.sb ? 1.0f : 0.0f; + const float sc = cmd.sc ? 1.0f : 0.0f; + AlphaBeta out; + out.alpha = (2.0f / 3.0f) * vdc * (sa - 0.5f * (sb + sc)); + out.beta = (vdc / kSqrt3) * (sb - sc); + return out; +} + +inline AlphaBeta voltageAlphaBetaFromState(float vdc, SwitchingState state) { + return voltageAlphaBetaFromSwitches(vdc, switchingStateToCommand(state)); +} + +inline int countSwitchTransitions(const SwitchCommand& prev, const SwitchCommand& next) { + return (prev.sa != next.sa ? 1 : 0) + (prev.sb != next.sb ? 1 : 0) + (prev.sc != next.sc ? 1 : 0); +} + +inline constexpr std::array kAllSwitchingStates = { + SwitchingState::S000, SwitchingState::S100, SwitchingState::S110, SwitchingState::S010, + SwitchingState::S011, SwitchingState::S001, SwitchingState::S101, SwitchingState::S111, +}; + +} // namespace simulation diff --git a/docs/18_hybrid_adrc_mpcc_bringup.md b/docs/18_hybrid_adrc_mpcc_bringup.md new file mode 100644 index 00000000..f8a5b128 --- /dev/null +++ b/docs/18_hybrid_adrc_mpcc_bringup.md @@ -0,0 +1,63 @@ +# Gen6 Hybrid ADRC+MPCC bring-up + +Same **test approach as FOC**: set **`IqVar` in amperes**, enable, watch dq / phase currents and spin. + +Hardware path matches `foc_demo`: sense → Park → controller → **Vαβ → SVPWM → PWM**. + +| Graph | Inner current law | +|-------|-------------------| +| `foc_demo.json` | PI | +| `ladrc_demo.json` | LADRC | +| `hybrid_adrc_mpcc_demo.json` | Hybrid ADRC + deadbeat (Mode-3 style) | + +## Flash + +```bash +cd "/Users/saeed/Desktop/Journal Paper 2026/GitHub Repository/RTE" + +cmake -B build -G Ninja && cmake --build build -j8 + +./Tools/build_flash_graph.sh \ + --graph Assets/Examples/hybrid_adrc_mpcc_demo.json \ + --fw-build-dir build/hybrid-adrc-mpcc-fw \ + --fw-src-dir build/hybrid-adrc-mpcc-fw-src \ + --clean +``` + +## FOC-like spin (default) + +1. Bus **~55 V** (hold if Vdc < 40 V). +2. **`SpdMode = 0`** (graph default) → **`IqVar` is amps**, same as FOC. +3. `IdVar = 0`, enable off → duties ~50%. +4. Enable; ramp **`IqVar`: 1 → 2 → 3 → 5 A** (slew ~50 A/s like FOC). +5. Expect clean phase current and shaft speed rising with Iq (no-load ~hundreds of rpm at 55 V). +6. For paper figures stay in a comfortable band; at 55 V / ψ≈0.07 the voltage ceiling is roughly **700 rpm** — do not expect 1000 rpm without a higher bus. + +## What else is in the hybrid (not FOC-operator changes) + +These stay for robustness from sessions 4–6; they do **not** change the Iq-in-amps workflow: + +- Θe unwrap for ω +- ψ default / reject 0.01 placeholder → **0.07** +- Milder deadbeat near voltage ceiling, Iq-priority clamp, light field-weakening +- Hard overcurrent (zero V) + +Optional: `SpdMode = 1` makes `IqVar` a rpm setpoint (not used for FOC-comparable tests). + +## Tuning + +| Param | Default | Notes | +|-------|---------|--------| +| `SpdMode` | **0** | FOC-like current mode | +| `DbScale` | 0.55 | Deadbeat scale | +| `I_Max` | 15 | Hard current clamp (A) | +| `PsiF` | 0.07 | BEMF feedforward | +| `SlewIq.Rate` | 50 | A/s (same idea as FOC) | +| `OmegaDeriv.Unwrap` | 1 | Required | + +## If it trips + +- Re-flash `foc_demo.json` and confirm the same Iq step still works. +- Match encoder Sign/Offset to FOC. +- Confirm Ld/Lq/Rs/ψ cal. +- Lower Iq or DbScale slightly.