Initial commit (project based on widgets)
This commit is contained in:
Yury Shuvakin
367
mobile/DetectFocParam.qml
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367
mobile/DetectFocParam.qml
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/*
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Copyright 2018 Benjamin Vedder benjamin@vedder.se
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This file is part of VESC Tool.
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VESC Tool is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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VESC Tool is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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import QtQuick 2.7
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import QtQuick.Controls 2.2
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import QtQuick.Layouts 1.3
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import Vedder.vesc.bmsinterface 1.0
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import Vedder.vesc.commands 1.0
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import Vedder.vesc.configparams 1.0
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Item {
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property int parentWidth: 10
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property real res: 0.0
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property real ind: 0.0
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property real lambda: 0.0
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property real kp: 0.0
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property real ki: 0.0
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property real gain: 0.0
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property Commands mCommands: VescIf.commands()
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property ConfigParams mbmsConfig: VescIf.bmsConfig()
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property ConfigParams mInfoConf: VescIf.infoConfig()
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function openDialog() {
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dialog.open()
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}
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function updateDisplay() {
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resultArea.text =
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"R : " + parseFloat(res * 1e3).toFixed(2) + " m\u03A9\n" +
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"L : " + parseFloat(ind * 1e6).toFixed(2) + " µH\n" +
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"\u03BB : " + parseFloat(lambda * 1e3).toFixed(3) + " mWb\n" +
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"KP : " + parseFloat(kp).toFixed(4) + "\n" +
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"KI : " + parseFloat(ki).toFixed(2) + "\n" +
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"Gain : " + parseFloat(gain).toFixed(2)
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}
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function calcKpKi() {
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if (res < 1e-10) {
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VescIf.emitMessageDialog("Calculate Error",
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"R is 0. Please measure it first.",
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false, false)
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return;
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}
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if (ind < 1e-10) {
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VescIf.emitMessageDialog("Calculate Error",
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"L is 0. Please measure it first.",
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false, false)
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return;
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}
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// https://e2e.ti.com/blogs_/b/motordrivecontrol/archive/2015/07/20/teaching-your-pi-controller-to-behave-part-ii
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var tc = tcBox.realValue * 1e-6
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var bw = 1.0 / tc
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kp = ind * bw;
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ki = res * bw;
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updateDisplay()
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}
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function calcGain() {
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if (lambda < 1e-10) {
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VescIf.emitMessageDialog("Calculate Error",
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"\u03BB is 0. Please measure it first.",
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false, false)
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return;
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}
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gain = 0.001 / (lambda * lambda)
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updateDisplay()
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}
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function testConnected() {
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if (VescIf.isPortConnected()) {
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return true
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} else {
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VescIf.emitMessageDialog(
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"Connection Error",
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"The VESC is not connected. Please connect it to run detection.",
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false, false)
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return false
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}
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}
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Component.onCompleted: {
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updateDisplay()
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}
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Dialog {
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id: dialog
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standardButtons: Dialog.Close
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modal: true
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focus: true
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width: parentWidth - 20
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height: Math.min(implicitHeight, column.height - 40)
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closePolicy: Popup.CloseOnEscape
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x: 10
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y: 10
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ScrollView {
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anchors.fill: parent
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clip: true
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contentWidth: parent.width
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ColumnLayout {
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anchors.fill: parent
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spacing: 0
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DoubleSpinBox {
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id: currentBox
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Layout.fillWidth: true
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decimals: 2
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realValue: 5.0
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realFrom: 0.0
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realTo: 200.0
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prefix: "I: "
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suffix: " A"
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}
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DoubleSpinBox {
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id: dutyBox
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Layout.fillWidth: true
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decimals: 2
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realValue: 0.5
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realFrom: 0.0
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realTo: 1.0
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realStepSize: 0.1
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prefix: "D: "
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}
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DoubleSpinBox {
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id: erpmBox
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Layout.fillWidth: true
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decimals: 1
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realValue: 450.0
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realFrom: 0.0
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realTo: 20000.0
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realStepSize: 10.0
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prefix: "\u03C9: "
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suffix: " ERPM"
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}
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DoubleSpinBox {
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id: tcBox
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Layout.fillWidth: true
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decimals: 1
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realValue: 1000.0
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realFrom: 0.0
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realTo: 1000000.0
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realStepSize: 100.0
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prefix: "T: "
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suffix: " µS"
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}
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Button {
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text: "Help"
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Layout.fillWidth: true
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onClicked: {
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VescIf.emitMessageDialog(
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mInfoConf.getLongName("help_foc_detect"),
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mInfoConf.getDescription("help_foc_detect"),
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true, true)
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}
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}
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RowLayout {
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Layout.fillWidth: true
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Button {
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text: "Detect R&L"
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Layout.preferredWidth: 50
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Layout.fillWidth: true
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onClicked: {
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if (!testConnected()) {
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return
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}
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detectRlDialog.open()
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}
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}
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Button {
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text: "DETECT \u03BB"
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font.capitalization: Font.MixedCase
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Layout.preferredWidth: 50
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Layout.fillWidth: true
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onClicked: {
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if (!testConnected()) {
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return
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}
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if (res < 1e-9) {
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VescIf.emitMessageDialog("Detect",
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"R is 0. Please measure it first.",
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false, false)
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} else {
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detectLambdaDialog.open()
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}
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}
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}
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}
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Button {
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text: "CALCULATE KP, KI AND \u03BB"
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font.capitalization: Font.MixedCase
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Layout.fillWidth: true
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onClicked: {
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calcKpKi()
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calcGain()
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}
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}
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TextArea {
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id: resultArea
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Layout.fillWidth: true
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Layout.preferredHeight: 200
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readOnly: true
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font.family: "DejaVu Sans Mono"
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}
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Button {
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text: "Apply & Close"
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Layout.fillWidth: true
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onClicked: {
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if (res < 1e-10) {
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VescIf.emitMessageDialog("Apply Error",
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"R is 0. Please measure it first.",
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false, false)
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return
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}
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if (ind < 1e-10) {
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VescIf.emitMessageDialog("Apply Error",
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"L is 0. Please measure it first.",
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false, false)
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return
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}
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if (lambda < 1e-10) {
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VescIf.emitMessageDialog("Apply Error",
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"\u03BB is 0. Please measure it first.",
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false, false)
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return
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}
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calcKpKi()
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calcGain()
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mbmsConfig.updateParamDouble("foc_motor_r", res)
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mbmsConfig.updateParamDouble("foc_motor_l", ind)
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mbmsConfig.updateParamDouble("foc_motor_flux_linkage", lambda)
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mbmsConfig.updateParamDouble("foc_current_kp", kp)
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mbmsConfig.updateParamDouble("foc_current_ki", ki)
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mbmsConfig.updateParamDouble("foc_observer_gain", gain * 1e6)
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dialog.close()
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}
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}
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}
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}
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}
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Dialog {
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id: detectRlDialog
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standardButtons: Dialog.Ok
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modal: true
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focus: true
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width: parentWidth - 20
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closePolicy: Popup.CloseOnEscape
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title: "Measure R & L"
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x: 10
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y: dialog.y + dialog.height / 2 - height / 2
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Text {
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id: detectRlLabel
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verticalAlignment: Text.AlignVCenter
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anchors.fill: parent
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wrapMode: Text.WordWrap
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text:
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"When measuring R & L the motor is going to make some noises, but " +
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"not rotate. These noises are completely normal, so don't unplug " +
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"anything unless you see smoke."
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}
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onAccepted: {
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mCommands.measureRL()
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}
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}
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Dialog {
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id: detectLambdaDialog
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standardButtons: Dialog.Ok | Dialog.Cancel
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modal: true
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focus: true
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width: parentWidth - 20
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closePolicy: Popup.CloseOnEscape
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title: "Warning"
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x: 10
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y: dialog.y + dialog.height / 2 - height / 2
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Text {
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id: detectLambdaLabel
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verticalAlignment: Text.AlignVCenter
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anchors.fill: parent
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wrapMode: Text.WordWrap
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text:
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"<font color=\"red\">Warning: </font>" +
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"This is going to spin up the motor. Make " +
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"sure that nothing is in the way."
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}
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onAccepted: {
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mCommands.measureLinkage(currentBox.realValue, erpmBox.realValue, dutyBox.realValue, res)
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}
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}
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Connections {
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target: mCommands
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onMotorRLReceived: {
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if (r < 1e-9 && l < 1e-9) {
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VescIf.emitStatusMessage("Bad FOC Detection Result Received", false)
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VescIf.emitMessageDialog("Bad Detection Result",
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"Could not measure the motor resistance and inductance.",
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false, false)
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} else {
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VescIf.emitStatusMessage("FOC Detection Result Received", true)
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res = r
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ind = l * 1e-6
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calcKpKi()
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}
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}
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onMotorLinkageReceived: {
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if (flux_linkage < 1e-9) {
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VescIf.emitStatusMessage("Bad FOC Detection Result Received", false)
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VescIf.emitMessageDialog("Bad Detection Result",
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"Could not measure the flux linkage properly. Adjust " +
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"the start parameters according to the help text and try again.",
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false, false)
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} else {
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VescIf.emitStatusMessage("FOC Detection Result Received", true)
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lambda = flux_linkage
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calcGain()
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}
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}
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}
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}
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