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//-------------------------------------------------------//
// Project Code : CodeLibrary
// File Name : HarRes.cpp
// Created on : 2022. 11. 5.
// Description : 고조파 제어기
// Author : KimJeongWoo
// Last modified Date :
//-------------------------------------------------------//
#include <CodeLibMath.h>
#include <DigitalCtrl/HarRes.h>
float sLeadCompensator::Run(float in)
{
out = k1 * in;
out += k2 * inPrev;
out += k3 * outPrev;
// update compensator-variables
inPrev = in;
outPrev = out;
return out;
}
void sIinvHarRes::LeadCompUpdateGain()
{
// gains for lead compensator in R controller
// d-axis gains
LeadCompd.WTcomp = Wr * Tsamp;
ThetaRes = 1.5 * LeadCompd.WTcomp; // 1.5Tsamp digital delay is considered
ThetaRes = BOUND_PI(ThetaRes);
LeadCompd.SinComp = sin(ThetaRes);
LeadCompd.CosComp = 1. / cos(ThetaRes);
LeadCompd.ZT = LeadCompd.WTcomp * LeadCompd.CosComp * (1. - LeadCompd.SinComp) * 0.5;
LeadCompd.PT = LeadCompd.WTcomp * LeadCompd.CosComp * (1. + LeadCompd.SinComp) * 0.5;
LeadCompd.Kc = sqrt(LeadCompd.PT / LeadCompd.ZT);
LeadCompd.k1 = (1. + LeadCompd.ZT) * LeadCompd.Kc / (1. + LeadCompd.PT);
LeadCompd.k2 = (LeadCompd.ZT - 1.) * LeadCompd.Kc / (1. + LeadCompd.PT);
LeadCompd.k3 = (1. - LeadCompd.PT) / (1. + LeadCompd.PT);
// q-axis gains
LeadCompq.k1 = LeadCompd.k1;
LeadCompq.k2 = LeadCompd.k2;
LeadCompq.k3 = LeadCompd.k3;
}
void sIinvHarRes::Reset()
{
Idr1 = 0.;
Idr2 = 0.;
Vdr1 = 0.;
Vdr2 = 0.;
Iqr1 = 0.;
Iqr2 = 0.;
Vqr1 = 0.;
Vqr2 = 0.;
VdssRef = 0.;
VqssRef = 0.;
VdssLead = 0.;
VqssLead = 0.;
LeadCompd.inPrev = 0.;
LeadCompd.outPrev = 0.;
LeadCompd.out = 0.;
LeadCompq.inPrev = 0.;
LeadCompq.outPrev = 0.;
LeadCompq.out = 0.;
}
void sIinvHarRes::Init(float mRc, float mOrder, float mWcc, float mWeRate, float mTsamp)
{
Idr1 = 0.;
Idr2 = 0.;
Vdr1 = 0.;
Vdr2 = 0.;
Iqr1 = 0.;
Iqr2 = 0.;
Vqr1 = 0.;
Vqr2 = 0.;
VdssRef = 0.;
VqssRef = 0.;
VdssLead = 0.;
VqssLead = 0.;
LeadCompd.inPrev = 0.;
LeadCompd.outPrev = 0.;
LeadCompd.out = 0.;
LeadCompq.inPrev = 0.;
LeadCompq.outPrev = 0.;
LeadCompq.out = 0.;
Tsamp = mTsamp;
Wcc = mWcc;
Rc = mRc;
Kr = Rc * Wcc;
order = mOrder;
WeRate = mWeRate;
Wr = order * WeRate;
delay = 1.5;
// gains of R controller
Cr1 = tan( Wr * Tsamp * 0.5);
Cr2 = 1. - Cr1 * Cr1;
Cr3 = 1. + Cr1 * Cr1;
Kr1 = Cr1 / Wr / Cr3;
Kr2 = 2. * Cr2 / Cr3;
LeadCompUpdateGain();
} // initilize gains of resonant controller
void sIinvHarRes::UpdateGain(float mWe_hat)
{
Kr = Rc * Wcc;
// frequency updates
Wr = order * mWe_hat;
// gains of R controller
Cr1 = tan(Wr * Tsamp * 0.5);
Cr2 = 1. - Cr1 * Cr1;
Cr3 = 1. + Cr1 * Cr1;
// More simplified gain settings for R controller itself
Kr1 = Cr1 / Wr / Cr3;
Kr2 = 2. * Cr2 / Cr3;
LeadCompUpdateGain();
}
void sIinvHarRes::Run(float mIds, float mIqs)
{
// error currents in the synchronous d-q reference frame
Idr = -Kr * mIds;
Iqr = -Kr * mIqs;
// d-axis harmonic voltage references
VdssRef = Kr1 * (Idr - Idr2);
VdssRef += Kr2 * Vdr1;
VdssRef -= Vdr2;
// q-axis harmonic voltage references
VqssRef = Kr1 * (Iqr - Iqr2);
VqssRef += Kr2 * Vqr1;
VqssRef -= Vqr2;
// update state variables for next sampling period
// d-axis
Idr2 = Idr1;
Idr1 = Idr;
Vdr2 = Vdr1;
Vdr1 = VdssRef;
// q-axis
Iqr2 = Iqr1;
Iqr1 = Iqr;
Vqr2 = Vqr1;
Vqr1 = VqssRef;
// lead compensator for digital delay in R controller
VdssLead = LeadCompd.Run(VdssRef);
VqssLead = LeadCompq.Run(VqssRef);
// limiter for voltage references of resonant controller
VdssLead = LIMITER(VdssLead, 20, -20);
VqssLead = LIMITER(VqssLead, 20, -20);
}