[Rotor Estimator] Convert input voltages to alpha beta type

sahil-kale · Jan 1, 2024 · d42fa18 · d42fa18
1 parent e34f2a3
commit d42fa18
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Showing 3 changed files with 7 additions and 12 deletions.
diff --git a/control_loop/bldc/brushless_control_loop.cpp b/control_loop/bldc/brushless_control_loop.cpp
@@ -216,8 +216,7 @@ void BrushlessControlLoop::update_rotor_position_estimator(
         estimator_inputs.pm_flux_linkage = params_->foc_params.pm_flux_linkage;
 
         // Set the V alpha and V beta
-        estimator_inputs.V_alpha = V_alpha_beta_.alpha;
-        estimator_inputs.V_beta = V_alpha_beta_.beta;
+        estimator_inputs.V_alpha_beta = V_alpha_beta_;
 
         app_hal_status_E status = primary_rotor_position_estimator_.update(estimator_inputs);
 

diff --git a/control_loop/bldc/rotor_estimator.cpp b/control_loop/bldc/rotor_estimator.cpp
@@ -322,8 +322,8 @@ app_hal_status_E SensorlessRotorFluxObserver::update(const EstimatorInputs& inpu
         // Clarke transform the current
         math::alpha_beta_t i_ab = math::clarke_transform(inputs.phase_current.u, inputs.phase_current.v, inputs.phase_current.w);
         // Get the y_alpha and y_beta values
-        const float y_alpha = determine_flux_driving_voltage(stator_resistance, inputs.V_alpha, i_ab.alpha);
-        const float y_beta = determine_flux_driving_voltage(stator_resistance, inputs.V_beta, i_ab.beta);
+        const float y_alpha = determine_flux_driving_voltage(stator_resistance, inputs.V_alpha_beta.alpha, i_ab.alpha);
+        const float y_beta = determine_flux_driving_voltage(stator_resistance, inputs.V_alpha_beta.beta, i_ab.beta);
 
         // Get the eta values for the alpha and beta axes
         const float eta_alpha = determine_flux_deviation(x_alpha_, stator_inductance, i_ab.alpha);

diff --git a/control_loop/bldc/rotor_estimator.hpp b/control_loop/bldc/rotor_estimator.hpp
@@ -3,6 +3,7 @@
 #include "bridge_3phase.hpp"
 #include "brushless_6step_commutation.hpp"
 #include "hal_clock.hpp"
+#include "math_foc.hpp"
 
 namespace bldc_rotor_estimator {
 
@@ -43,15 +44,10 @@ class ElectricalRotorPosEstimator {
         hwbridge::Bridge3Phase::phase_current_t phase_current;
 
         /**
-         * @brief The phase voltages in the frame of reference of the rotor
-         * @todo Convert this to a alpha/beta frame type
+         * @brief The applied voltage in the alpha-beta frame of the previous control loop iteration fed-forward to the rotor
+         * position estimator
          */
-        float V_alpha = 0.0f;
-        /**
-         * @brief The phase voltages in the frame of reference of the rotor
-         * @todo Convert this to a alpha/beta frame type
-         */
-        float V_beta = 0.0f;
+        math::alpha_beta_t V_alpha_beta;
 
         /**
          * @brief The phase resistance of the motor (Ohms)