Add impedance control mode
This mode regulates the input current such that the load to the generator has a constant, defined impedance. The impedance is set such that it matches the ratio between the specified motor voltage and current. In that case, the power extracted from the motor/generator ist maximized.
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@ -300,8 +300,9 @@ fn main() -> ! {
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// Green LED is on in constant-voltage mode and off in MPPT mode.
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match switchctrl.get_control_mode() {
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switch_control::ControlMode::ConstantVoltage => {pin_led_g.set_high().unwrap()},
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switch_control::ControlMode::MPPT => {pin_led_g.set_low().unwrap()},
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switch_control::ControlMode::ConstantVoltage => {pin_led_g.set_high().unwrap()},
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switch_control::ControlMode::MPPT => {pin_led_g.set_low().unwrap()},
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switch_control::ControlMode::ImpedanceControl => {pin_led_g.set_low().unwrap()},
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}
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// do not output status data every loop
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@ -6,7 +6,8 @@ const PWR_AVG_EXPONENT: i64 = 12;
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#[derive(Copy, Clone)]
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pub enum ControlMode {
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MPPT,
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ConstantVoltage
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ConstantVoltage,
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ImpedanceControl
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}
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struct PID<const GAINSCALE: i32, const T0: i32>
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@ -217,12 +218,68 @@ impl<const INTERVAL: u32, const PERCENT_LOSS_TOLERANCE: i32> MPPT<INTERVAL, PERC
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}
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}
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struct ImpedanceControl<const T0: i32, const MOTOR_SPEC_U: i32, const MOTOR_SPEC_I: i32>
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{
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pid: PID::<10000, T0>,
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iin_target: i32,
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}
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impl<const T0: i32, const MOTOR_SPEC_U: i32, const MOTOR_SPEC_I: i32> ImpedanceControl<T0, MOTOR_SPEC_U, MOTOR_SPEC_I>
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{
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pub fn new(i_target_initial: i32, max_pwm: i32) -> Self
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{
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ImpedanceControl::<T0, MOTOR_SPEC_U, MOTOR_SPEC_I> {
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pid: PID::<10000, T0>::new(10, 5, 2, i_target_initial, 0, 0, max_pwm * 10000),
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iin_target: i_target_initial
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}
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}
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pub fn restart(&mut self, start_pwm: i32)
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{
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self.pid.restart_from_output_value(start_pwm);
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}
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pub fn update(&mut self, vin: i32, vout: i32, iout: i32) -> i32
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{
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let pout = vout * iout;
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let iin;
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if vin <= 0 {
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iin = 0;
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} else {
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iin = (pout / vin) * 85 / 100;
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}
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self.iin_target = vin * MOTOR_SPEC_I / MOTOR_SPEC_U;
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self.pid.set_target(self.iin_target);
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self.pid.update(iin)
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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"I_target: ").unwrap();
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data = String::from(self.iin_target);
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logger.log(data.as_bytes()).unwrap();
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logger.log(b"mA - ").unwrap();
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self.pid.log_status(logger);
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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<200, 0 /* percent loss of peak power */>,
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imp_ctrl: ImpedanceControl<T0, 11000, 15000>,
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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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@ -234,10 +291,11 @@ impl<const T0: i32> SwitchControl<T0>
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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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mode: ControlMode::ImpedanceControl,
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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::<200, 0>::new(3*pwm_max/4, 0, pwm_max),
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imp_ctrl: ImpedanceControl::<T0, 11000, 15000>::new(1000, 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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@ -246,7 +304,7 @@ impl<const T0: i32> SwitchControl<T0>
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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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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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@ -260,14 +318,26 @@ impl<const T0: i32> SwitchControl<T0>
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self.mode_switch_delay_counter = 100;
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},
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ControlMode::ImpedanceControl =>
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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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self.mode = ControlMode::ImpedanceControl;
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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_max * 80 / 100, -1);
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//self.mppt.restart(self.pwm_max * 80 / 100, -1);
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// back to impedance control
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self.imp_ctrl.restart(self.pwm_max * 80 / 100);
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}
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}
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} else {
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@ -278,6 +348,7 @@ impl<const T0: i32> SwitchControl<T0>
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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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ControlMode::ImpedanceControl => self.imp_ctrl.update(vin, vout, iout),
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};
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// store and limit pwm value
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@ -303,6 +374,11 @@ impl<const T0: i32> SwitchControl<T0>
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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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ControlMode::ImpedanceControl => {
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logger.log(b"[Imp] ").unwrap();
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self.imp_ctrl.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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