SwitchControl: auto-switching between MPPT and CV + more
- MPPT improved
- Status logging
- Smooth transition between MPPT and CV modes
- MPPT -> CV, when target voltage is reached
- CV -> MPPT, when regulation cannot hold target voltage due to
insufficient source power
This commit is contained in:
Thomas Kolb
parent
4de016eb30
commit
4cd5266653
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@ -9,7 +9,12 @@ pub enum LoggerError {
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WriteError
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}
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pub struct Logger<D, P, const QLEN: usize>
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pub trait Logger
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{
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fn log(&mut self, msg: &[u8]) -> Result<(), LoggerError>;
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}
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pub struct UartLogger<D, P, const QLEN: usize>
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where
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D: UartDevice,
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P: ValidUartPinout<D>
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@ -18,22 +23,13 @@ where
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queue: Queue<u8, QLEN>,
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}
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impl<D, P, const QLEN: usize> Logger<D, P, QLEN>
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impl<D, P, const QLEN: usize> Logger for UartLogger<D, P, QLEN>
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where
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D: UartDevice,
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P: ValidUartPinout<D>
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{
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pub fn new(
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uart: UartPeripheral<Enabled, D, P>
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) -> Self
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{
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Logger::<D, P, QLEN> {
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uart,
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queue: Queue::new()
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}
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}
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pub fn log(&mut self, msg: &[u8]) -> Result<(), LoggerError>
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fn log(&mut self, msg: &[u8]) -> Result<(), LoggerError>
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{
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for c in msg.iter() {
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match self.queue.enqueue(*c) {
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@ -44,6 +40,23 @@ where
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self.process().map(|_| ())
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}
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}
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impl<D, P, const QLEN: usize> UartLogger<D, P, QLEN>
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where
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D: UartDevice,
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P: ValidUartPinout<D>
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{
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pub fn new(
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uart: UartPeripheral<Enabled, D, P>
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) -> Self
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{
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UartLogger::<D, P, QLEN> {
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uart,
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queue: Queue::new()
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}
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}
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pub fn log_fatal(&mut self, msg: &[u8])
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{
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63
src/main.rs
63
src/main.rs
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@ -44,6 +44,7 @@ mod ext_adc;
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mod logger;
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mod switch_control;
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use logger::UartLogger;
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use logger::Logger;
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/// The linker will place this boot block at the start of our program image. We
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@ -137,7 +138,7 @@ fn main() -> ! {
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.unwrap();
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// initialize the logger
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let mut logger: Logger<_, _, 256> = Logger::new(uart);
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let mut logger: UartLogger<_, _, 256> = UartLogger::new(uart);
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logger.log(b"Logging initialized.\r\n").unwrap();
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// Init PWMs
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@ -216,7 +217,7 @@ fn main() -> ! {
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pac::NVIC::unmask(pac::Interrupt::TIMER_IRQ_0);
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}
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let mut switchctrl = switch_control::SwitchControl::<1>::new(8000, SWITCH_PWM_LIMIT);
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let mut switchctrl = switch_control::SwitchControl::<1>::new(8000, 100, SWITCH_PWM_LIMIT);
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let mut loopcnt: u64 = 0;
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@ -277,38 +278,44 @@ fn main() -> ! {
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pwr_switch_ch.set_duty(pwmval as u16);
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// do not output status data every loop
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if loopcnt % 500 == 250 {
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let mut data: String<16>;
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match loopcnt % 500 {
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1 => {
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let mut data: String<16>;
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logger.log(b"Vin: ").unwrap();
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data = String::from(vin);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mV - Vout: ").unwrap();
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data = String::from(vout);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mV - Iout: ").unwrap();
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data = String::from(iout);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mA - Pout: ").unwrap();
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data = String::from(vout * iout / 1000);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mW - raw: [").unwrap();
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for i in 0..adc_value.len() {
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data = String::from(adc_value[i]);
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logger.log(b"Vin: ").unwrap();
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data = String::from(vin);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mV - Vout: ").unwrap();
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data = String::from(vout);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mV - Iout: ").unwrap();
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data = String::from(iout);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mA - Pout: ").unwrap();
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data = String::from(vout * iout / 1000);
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logger.log(data.as_bytes()).unwrap();
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if i < 3 {
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logger.log(b", ").unwrap();
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logger.log(b"mW - raw: [").unwrap();
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for i in 0..adc_value.len() {
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data = String::from(adc_value[i]);
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logger.log(data.as_bytes()).unwrap();
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if i < 3 {
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logger.log(b", ").unwrap();
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}
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}
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}
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logger.log(b"]; PWM: ").unwrap();
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data = String::from(pwmval);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"]; PWM: ").unwrap();
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data = String::from(pwmval);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"\r\n").unwrap();
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logger.log(b"\r\n").unwrap();
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},
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2 => {
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switchctrl.log_status(&mut logger);
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},
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_ => {}
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}
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loopcnt += 1;
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@ -1,3 +1,6 @@
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use crate::logger::Logger;
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use heapless::String;
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enum ControlMode {
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MPPT,
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ConstantVoltage
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@ -16,6 +19,10 @@ struct PID<const GAINSCALE: i32, const T0: i32>
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iaccu_min: i32, // minimum allowed value in iaccu
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iaccu_max: i32, // maximum allowed value in iaccu
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dbg_p: i32,
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dbg_i: i32,
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dbg_d: i32,
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}
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impl<const GAINSCALE: i32, const T0: i32> PID<GAINSCALE, T0>
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@ -31,10 +38,19 @@ impl<const GAINSCALE: i32, const T0: i32> PID<GAINSCALE, T0>
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elast: 0,
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target,
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iaccu_min,
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iaccu_max
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iaccu_max,
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dbg_p: 0,
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dbg_i: 0,
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dbg_d: 0
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}
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}
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pub fn restart_from_output_value(&mut self, oval: i32)
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{
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self.iaccu = oval * GAINSCALE;
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self.elast = 0;
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}
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pub fn update(&mut self, meas: i32) -> i32
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{
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let err = self.target - meas;
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@ -50,10 +66,14 @@ impl<const GAINSCALE: i32, const T0: i32> PID<GAINSCALE, T0>
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let pval = self.pgain * err / GAINSCALE;
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let ival = self.iaccu / GAINSCALE;
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let dval = self.dgain * (err - self.elast) / GAINSCALE;
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let dval = self.dgain * (err - self.elast) / GAINSCALE / T0;
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self.elast = err;
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self.dbg_p = pval;
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self.dbg_i = ival;
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self.dbg_d = dval;
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pval + ival + dval
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}
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@ -61,9 +81,24 @@ impl<const GAINSCALE: i32, const T0: i32> PID<GAINSCALE, T0>
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{
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self.target = new_target;
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}
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pub fn log_status(&self, logger: &mut dyn Logger)
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{
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let mut data: String<16>;
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logger.log(b"Last P: ").unwrap();
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data = String::from(self.dbg_p);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b" I: ").unwrap();
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data = String::from(self.dbg_i);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b" D: ").unwrap();
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data = String::from(self.dbg_d);
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logger.log(data.as_bytes()).unwrap();
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}
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}
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struct MPPT<const INTERVAL: u32, const PWR_TOLERANCE: i32>
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struct MPPT<const INTERVAL: u32, const PERCENT_LOSS_TOLERANCE: i32>
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{
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update_delay: u32,
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@ -71,24 +106,34 @@ struct MPPT<const INTERVAL: u32, const PWR_TOLERANCE: i32>
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increment: i32,
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last_power: i32,
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peak_power: i32, // highest power seen so far. Decreases over time.
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min_pwm: i32,
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max_pwm: i32,
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}
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impl<const INTERVAL: u32, const PWR_TOLERANCE: i32> MPPT<INTERVAL, PWR_TOLERANCE>
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impl<const INTERVAL: u32, const PERCENT_LOSS_TOLERANCE: i32> MPPT<INTERVAL, PERCENT_LOSS_TOLERANCE>
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{
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pub fn new(start_pwm: i32, min_pwm: i32, max_pwm: i32) -> Self
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{
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MPPT::<INTERVAL, PWR_TOLERANCE> {
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MPPT::<INTERVAL, PERCENT_LOSS_TOLERANCE> {
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update_delay: INTERVAL - 1,
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pwm: start_pwm,
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increment: 1,
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last_power: 0,
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peak_power: 0,
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min_pwm,
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max_pwm
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max_pwm
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}
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}
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pub fn restart(&mut self, start_pwm: i32, start_increment: i32)
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{
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self.peak_power = 1;
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self.pwm = start_pwm;
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self.increment = start_increment;
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}
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pub fn update(&mut self, vout: i32, iout: i32) -> i32
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{
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if self.update_delay == 0 {
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@ -96,10 +141,20 @@ impl<const INTERVAL: u32, const PWR_TOLERANCE: i32> MPPT<INTERVAL, PWR_TOLERANCE
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let cur_power = vout * iout;
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let power_change = cur_power - self.last_power;
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// decrease peak power over time
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self.peak_power = (998 * (self.peak_power as i64) / 1000) as i32;
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if cur_power > self.peak_power {
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self.peak_power = cur_power;
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} else if self.peak_power <= 0 {
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self.peak_power = 1;
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}
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let peak_power_loss_percent = 100 - (100 * cur_power / self.peak_power);
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// invert search direction if measured power is significantly lower than previous measurement
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if power_change.abs() > PWR_TOLERANCE && cur_power < self.last_power {
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if peak_power_loss_percent > PERCENT_LOSS_TOLERANCE {
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//self.peak_power = cur_power; // prevent immediate turnaround
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self.increment = -self.increment;
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}
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@ -121,42 +176,117 @@ impl<const INTERVAL: u32, const PWR_TOLERANCE: i32> MPPT<INTERVAL, PWR_TOLERANCE
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self.pwm
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}
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pub fn log_status(&self, logger: &mut dyn Logger)
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{
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let mut data: String<16>;
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match self.increment {
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1 => logger.log(b"\xE2\x86\x91").unwrap(), // unicode for ↑
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-1 => logger.log(b"\xE2\x86\x93").unwrap(), // unicode for ↓
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_ => {
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logger.log(b"inc: ").unwrap();
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data = String::from(self.increment);
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logger.log(data.as_bytes()).unwrap();
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}
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}
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logger.log(b" Ppk: ").unwrap();
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data = String::from(self.peak_power);
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logger.log(data.as_bytes()).unwrap();
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}
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}
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pub struct SwitchControl<const T0: i32>
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{
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mode: ControlMode,
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mode_switch_delay_counter: u32,
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cv_pid: PID<10000, T0>,
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mppt: MPPT<20, 50000 /* microwatts */>,
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pwm_max: i32
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mppt: MPPT<20, 3 /* percent loss of peak power */>,
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pwm_max: i32,
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pwm_cur: i32,
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cv_target: i32,
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cv_max_deviation: i32
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}
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impl<const T0: i32> SwitchControl<T0>
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{
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pub fn new(cv_target: i32, pwm_max: i32) -> Self
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pub fn new(cv_target: i32, cv_max_deviation: i32, pwm_max: i32) -> Self
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{
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SwitchControl::<T0> {
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mode: ControlMode::MPPT,
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cv_pid: PID::<10000, T0>::new(100, 50, 0, cv_target, 0, 0, pwm_max * 10000),
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mppt: MPPT::<20, 50000>::new(pwm_max/2, 0, pwm_max),
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pwm_max
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mode_switch_delay_counter: 0,
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cv_pid: PID::<10000, T0>::new(100, 50, 50, cv_target, 0, 0, pwm_max * 10000),
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mppt: MPPT::<20, 3>::new(pwm_max/2, 0, pwm_max),
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pwm_max,
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pwm_cur: 0,
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cv_target,
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cv_max_deviation
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}
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}
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// returns the new PWM value
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pub fn update(&mut self, _vin: i32, vout: i32, iout: i32) -> i32
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{
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// Mode switching (only if delay counter has expired)
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if self.mode_switch_delay_counter == 0 {
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match self.mode {
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ControlMode::MPPT =>
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if vout > self.cv_target {
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self.mode = ControlMode::ConstantVoltage;
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self.cv_pid.restart_from_output_value(self.pwm_cur * 80 / 100);
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// stay in CV mode for at least 100 update cycles
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self.mode_switch_delay_counter = 100;
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},
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ControlMode::ConstantVoltage =>
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if vout < self.cv_target - self.cv_max_deviation {
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self.mode = ControlMode::MPPT;
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// begin MPPT tracking by searching downwards, because the CV PID controller
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// probably has pushed the PWM to the upper limit due to too low output
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// voltage.
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self.mppt.restart(self.pwm_cur, -1);
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}
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}
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} else {
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self.mode_switch_delay_counter -= 1;
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}
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// update the PWM value
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let pwm = match self.mode {
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ControlMode::ConstantVoltage => self.cv_pid.update(vout),
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ControlMode::MPPT => self.mppt.update(vout, iout),
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};
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if pwm > self.pwm_max {
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self.pwm_max
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} else if pwm < 0 {
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0
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} else {
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pwm
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// store and limit pwm value
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self.pwm_cur = pwm;
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if self.pwm_cur > self.pwm_max {
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self.pwm_cur = self.pwm_max;
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} else if self.pwm_cur < 0 {
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self.pwm_cur = 0;
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}
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self.pwm_cur
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}
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pub fn log_status(&self, logger: &mut dyn Logger)
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{
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match self.mode {
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ControlMode::MPPT => {
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logger.log(b"[MPPT] ").unwrap();
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self.mppt.log_status(logger);
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}
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ControlMode::ConstantVoltage => {
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logger.log(b"[CV] ").unwrap();
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self.cv_pid.log_status(logger);
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}
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}
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logger.log(b"\r\n").unwrap();
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}
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}
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