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Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random Hacker. + + <signature of Ty Coon>, 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! + diff --git a/library.json b/library.json new file mode 100644 index 0000000000000000000000000000000000000000..725b85218ded95b5cc4c6878f6765e946ed94ba7 --- /dev/null +++ b/library.json @@ -0,0 +1,35 @@ +{ + "name": "opalib_control_pid", + "version": "0.1", + "description": "OwnTech Power API Library that implements a pid control for the owntech converter.", + "keywords": "OwnTech Power API", + "repository": + { + "type": "git", + "url": "https://gitlab.laas.fr/owntech/power-api/opalib-control-pid.git" + }, + "authors": + [ + { + "name": "Clement Foucher", + "email": "clement.foucher@laas.fr" + }, + { + "name": "Jean Alinei", + "email": "jean.alinei@laas.fr" + }, + { + "name": "Luiz Villa", + "email": "luiz.villa@laas.fr", + "maintainer": true + } + ], + "license": "LGPLV2", + "homepage": "https://www.owntech.org/", + "dependencies": { + "owntech/core": "~1.0" + }, + "frameworks": "zephyr", + "platforms": "ststm32@14.2.0" + } + diff --git a/src/opalib_control_pid.c b/src/opalib_control_pid.c new file mode 100644 index 0000000000000000000000000000000000000000..ec9fffc4929a35efc986bd7fea629d91bea2ef10 --- /dev/null +++ b/src/opalib_control_pid.c @@ -0,0 +1,276 @@ +/* + * Copyright (c) 2021 LAAS-CNRS + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 2.1 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this program. If not, see <https://www.gnu.org/licenses/>. + * + * SPDX-License-Identifier: LGLPV2.1 + */ + +/** + * @author Jean Alinei <jean.alinei@laas.fr> + * @author Clément Foucher <clement.foucher@laas.fr> + * @author Antoine Boche <antoine.boche@laas.fr> + */ + +///// +// Include + +// Zephyr +#include <zephyr.h> + +// Stdlib +#include <stdio.h> + +// Current file header +#include "opalib_control.h" + + +///// +// Defines + +// Saturation values used for the PWM duty cycle +#define LOW_DUTY 0.1 +#define HIGH_DUTY 0.9 +#define VMAX 130 +#define IMAX_INT 16 +#define IMAX_LEG 8 + +///// +// Local variables + +static float32_t saturation_interleaved, saturation_leg1, saturation_leg2; // Represent the minimum voltage required for the entry to suit the Vref + +// Interleaved PID variables +static arm_pid_instance_f32 PID_variables; // PID structure +static float32_t error_pid; // PID error +static uint32_t pid_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation) + +static float32_t prev_pid_out = 0.1; // Stores the previous unsaturated output +static float32_t pid_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle) +static uint32_t Count_pid_reset; // Counter to reset the PID when calculation is off + +// Anti-Windup variables +static float32_t pid_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation +static float32_t WindUp_sub, WindUp_mult; // Transition variables for arm calculation of the WindUp +float32_t Kw = 0.000143; // WindUp Parameter + + +// Leg1 PID variables +static arm_pid_instance_f32 PID_1_variables; // PID structure +static float32_t error_pid_1; // PID error +static uint32_t pid_1_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation) + +static float32_t prev_pid_1_out = 0.1; // Stores the previous unsaturated output +static float32_t pid_1_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle) +static uint32_t Count_pid_1_reset; // Counter to reset the PID when calculation is off + +// Anti-Windup variables +static float32_t pid_1_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation +static float32_t WindUp_1_sub, WindUp_1_mult; // Transition variables for arm calculation of the WindUp +float32_t Kw_1 = 0.000143; // WindUp Parameter + +// Leg2 PID variables +static arm_pid_instance_f32 PID_2_variables; // PID structure +static float32_t error_pid_2; // PID error +static uint32_t pid_2_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation) + +static float32_t prev_pid_2_out = 0.1; // Stores the previous unsaturated output +static float32_t pid_2_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle) +static uint32_t Count_pid_2_reset; // Counter to reset the PID when calculation is off + +// Anti-Windup variables +static float32_t pid_2_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation +static float32_t WindUp_2_sub, WindUp_2_mult; // Transition variables for arm calculation of the WindUp +float32_t Kw_2 = 0.000143; // WindUp Parameter + +// PWM variables +static float32_t pwm_duty_cycle = 0.1; // PWM initialization duty cycle value for the interleaved mode +static float32_t pwm_duty_cycle_1 = 0.1; // PWM initialization duty cycle value for leg 1 +static float32_t pwm_duty_cycle_2 = 0.1; // PWM initialization duty cycle value for leg 2 + + +///// +// Public Functions + +/** + * This function initializes all the parameters + * needed for the PID calculation for the buck topology + */ +void opalib_control_init_interleaved_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us) +{ + pid_period_us = task_period_us; + + float32_t million = 1000000; + PID_variables.Kp = kp; + PID_variables.Ki = ki * (pid_period_us / million); + PID_variables.Kd = kd; + + arm_pid_init_f32(&PID_variables, 1); + +} + +/** + * This function initializes all the parameters + * needed for the PID calculation for the buck topology + */ +void opalib_power_conversion_init_leg1_pid(bool leg1_buck_mode, float32_t vref, float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us) +{ + pid_period_us = task_period_us; + + float32_t million = 1000000; + PID_1_variables.Kp = kp; + PID_1_variables.Ki = ki * (pid_period_us / million); + PID_1_variables.Kd = kd; + + arm_pid_init_f32(&PID_1_variables, 1); + +} + +/** + * This function initializes all the parameters + * needed for the PID calculation for the buck topology + */ +void opalib_power_conversion_init_leg2(float32_t vref, float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us) +{ + pid_period_us = task_period_us; + + float32_t million = 1000000; + PID_2_variables.Kp = kp; + PID_2_variables.Ki = ki * (pid_period_us / million); + PID_2_variables.Kd = kd; + + arm_pid_init_f32(&PID_2_variables, 1); + +} + +/** + * This function update the voltage reference of the + * control task. + */ + +void opalib_control_update_saturation_interleaved(float32_t new_saturation_value) +{ + saturation_interleaved = new_saturation_value; +} + +/** + * This function update the voltage reference of the + * control task. + */ + +void opalib_control_update_saturation_leg1(float32_t new_saturation_value) +{ + saturation_leg1 = new_saturation_value; +} + +/** + * This function update the voltage reference of the + * control task. + */ +void opalib_control_update_saturation_leg2(float32_t new_saturation_value) +{ + saturation_leg2 = new_saturation_value; +} + + +/** + * This function does the PID calculation + * The PID has an anti-windup that permits to avoid + * loosing control. + */ + +float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float32_t measurement){ + + if (measurement <= saturation_interleaved){ + + arm_sub_f32(&reference, &measurement, &error_pid, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE + pid_out = arm_pid_f32(&PID_variables, error_pid); // PID CALCULATIONS + + //PID anti WindUp saturation + arm_sub_f32(&pwm_duty_cycle, &prev_pid_out, &WindUp_sub, 1); + arm_mult_f32(&WindUp_sub, &Kw, &WindUp_mult, 1); + arm_add_f32(&WindUp_mult, &pid_out, &pid_out_windUp, 1); + + PID_variables.state[2] = pid_out_windUp; + pwm_duty_cycle = pid_out_windUp; + prev_pid_out = pid_out; + } + + return pwm_duty_cycle; +} + +/** + * This function does the PID_1 calculation + * The PID has an anti-windup that permits to avoid + * loosing control. + */ + +float32_t opalib_control_leg1_pid_calculation(float32_t reference, float32_t measurement) +{ + if (measurement <= saturation_leg1){ + + arm_sub_f32(&reference, &measurement, &error_pid_1, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE + + pid_1_out = arm_pid_f32(&PID_1_variables, error_pid_1); // PID CALCULATIONS + + //PID anti WindUp saturation + arm_sub_f32(&pwm_duty_cycle_1, &prev_pid_1_out, &WindUp_1_sub, 1); + arm_mult_f32(&WindUp_1_sub, &Kw_2, &WindUp_1_mult, 1); + arm_add_f32(&WindUp_1_mult, &pid_1_out, &pid_1_out_windUp, 1); + + PID_1_variables.state[2] = pid_1_out_windUp; + pwm_duty_cycle_1 = pid_1_out_windUp; + prev_pid_1_out = pid_1_out; + } + + return pwm_duty_cycle_1; +} + + +/** + * This function does the PID_2 calculation + * The PID has an anti-windup that permits to avoid + * loosing control. + */ + +float32_t opalib_control_leg2_pid_calculation(float32_t reference, float32_t measurement) +{ + if (measurement <= saturation_leg2){ + + arm_sub_f32(&reference, &measurement, &error_pid_2, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE + + pid_2_out = arm_pid_f32(&PID_2_variables, error_pid_2); // PID CALCULATIONS + + //PID anti WindUp saturation + arm_sub_f32(&pwm_duty_cycle_2, &prev_pid_2_out, &WindUp_2_sub, 1); + arm_mult_f32(&WindUp_2_sub, &Kw_2, &WindUp_2_mult, 1); + arm_add_f32(&WindUp_2_mult, &pid_2_out, &pid_2_out_windUp, 1); + + PID_2_variables.state[2] = pid_2_out_windUp; + pwm_duty_cycle_2 = pid_2_out_windUp; + prev_pid_2_out = pid_2_out; + } + + return pwm_duty_cycle_2; +} + +/** + * This function resets the states of the pid + */ +void opalib_control_pid_reset_state() +{ + arm_pid_reset_f32(&PID_variables); + arm_pid_reset_f32(&PID_1_variables); + arm_pid_reset_f32(&PID_2_variables); +} diff --git a/src/opalib_control_pid.h b/src/opalib_control_pid.h new file mode 100644 index 0000000000000000000000000000000000000000..c15ea69b7f4d7d56c6e98fd027d51669de57f33d --- /dev/null +++ b/src/opalib_control_pid.h @@ -0,0 +1,132 @@ +/* + * Copyright (c) 2021 LAAS-CNRS + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 2.1 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this program. If not, see <https://www.gnu.org/licenses/>. + * + * SPDX-License-Identifier: LGLPV2.1 + */ +/** + * @author Jean Alinei <jean.alinei@laas.fr> + * @author Clément Foucher <clement.foucher@laas.fr> + * @author Antoine Boche <antoine.boche@laas.fr> + */ + +#ifndef OPALIB_CONTROL_H_ +#define OPALIB_CONTROL_H_ + +#include <arm_math.h> // adds all the CMSIS library + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @brief This function initialize all the parameters + * needed for the PID calculation for the buck topology + * + * @param[in] kp Proportional gain for PID calculation + * @param[in] ki Integral gain for PID calculation + * @param[in] kd Derivative gain for PID calculation + * @param[in] task_period_us the period of the control task in micro-seconds + */ +void opalib_control_init_interleaved_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us); + +/** + * @brief This function initialize all the parameters for leg 1 + * + * @param[in] kp Proportional gain for PID calculation + * @param[in] ki Integral gain for PID calculation + * @param[in] kd Derivative gain for PID calculation + * @param[in] task_period_us the period of the control task in micro-seconds + */ +void opalib_control_init_leg1_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us); + +/** + * @brief This function initialize all the parameters for leg 2 + * + * @param[in] kp Proportional gain for PID calculation + * @param[in] ki Integral gain for PID calculation + * @param[in] kd Derivative gain for PID calculation + * @param[in] task_period_us the period of the control task in micro-seconds + */ +void opalib_control_init_leg2_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us); + +/** + * @brief This function update the saturation value used to protect both legs in the pid calculation + * + * @param[in] new_saturation_value The new saturation value to be set + */ +void opalib_control_update_saturation_interleaved(float32_t new_saturation_value); + + +/** + * @brief This function update the saturation value used to protect leg1 in the pid calculation + * + * @param[in] new_saturation_value The new saturation value to be set + */ +void opalib_control_update_saturation_leg1(float32_t new_saturation_value); + +/** + * @brief This function update the saturation value used to protect leg2 in the pid calculation + * + * @param[in] new_saturation_value The new saturation value to be set + */ +void opalib_control_update_saturation_leg2(float32_t new_saturation_value); + + +/** + * @brief This function calculates the error and calls a single pid for both legs to get an updated value for the duty cycle + * + * @param[in] voltage_reference floating point reference value to be tracked + * @param[in] measurement floating point measurement of the value used to calculate the error + * + * @return duty cycle to be sent to HRTIM peripheral + */ + +float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float32_t measurement); + + +/** + * @brief This function calculates the error and calls pid 1 to get an updated value for the duty cycle + * + * @param[in] voltage_reference floating point reference value to be tracked + * @param[in] measurement floating point measurement of the value used to calculate the error + * + * @return duty cycle to be sent to HRTIM peripheral + */ + +float32_t opalib_control_leg1_pid_calculation(float32_t reference, float32_t measurement); + +/** + * @brief This function calculates the error and calls pid 2 to get an updated value for the duty cycle + * + * @param[in] voltage_reference floating point reference value to be tracked + * @param[in] measurement floating point measurement of the value used to calculate the error + * + * @return duty cycle to be sent to HRTIM peripheral + */ + +float32_t opalib_control_leg2_pid_calculation(float32_t reference, float32_t measurement); + +/** + * @brief This function reset the pid state + */ +void opalib_control_pid_reset_state(void); + + +#ifdef __cplusplus +} +#endif + +#endif // OPALIB_CONTROL_H_