128 lines
3.2 KiB
C
128 lines
3.2 KiB
C
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//
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// Created by ZK on 2023/3/16.
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//
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#include "SVPWM.h"
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inline int svpwm(float alpha, float beta, float *tA, float *tB, float *tC) {
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int Sextant;
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if (beta >= 0.0f) {
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if (alpha >= 0.0f) {
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//quadrant I
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if (ONE_BY_SQRT3 * beta > alpha)
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Sextant = 2; //sextant v2-v3
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else
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Sextant = 1; //sextant v1-v2
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} else {
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//quadrant II
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if (-ONE_BY_SQRT3 * beta > alpha)
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Sextant = 3; //sextant v3-v4
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else
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Sextant = 2; //sextant v2-v3
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}
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} else {
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if (alpha >= 0.0f) {
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//quadrant IV
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if (-ONE_BY_SQRT3 * beta > alpha)
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Sextant = 5; //sextant v5-v6
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else
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Sextant = 6; //sextant v6-v1
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} else {
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//quadrant III
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if (ONE_BY_SQRT3 * beta > alpha)
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Sextant = 4; //sextant v4-v5
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else
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Sextant = 5; //sextant v5-v6
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}
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}
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switch (Sextant) {
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// sextant v1-v2
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case 1: {
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// Vector on-times
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float t1 = alpha - ONE_BY_SQRT3 * beta;
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float t2 = TWO_BY_SQRT3 * beta;
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// PWM timings
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*tA = (1.0f - t1 - t2) * 0.5f;
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*tB = *tA + t1;
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*tC = *tB + t2;
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}
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break;
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// sextant v2-v3
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case 2: {
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// Vector on-times
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float t2 = alpha + ONE_BY_SQRT3 * beta;
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float t3 = -alpha + ONE_BY_SQRT3 * beta;
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// PWM timings
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*tB = (1.0f - t2 - t3) * 0.5f;
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*tA = *tB + t3;
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*tC = *tA + t2;
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}
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break;
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// sextant v3-v4
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case 3: {
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// Vector on-times
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float t3 = TWO_BY_SQRT3 * beta;
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float t4 = -alpha - ONE_BY_SQRT3 * beta;
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// PWM timings
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*tB = (1.0f - t3 - t4) * 0.5f;
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*tC = *tB + t3;
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*tA = *tC + t4;
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}
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break;
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// sextant v4-v5
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case 4: {
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// Vector on-times
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float t4 = -alpha + ONE_BY_SQRT3 * beta;
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float t5 = -TWO_BY_SQRT3 * beta;
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// PWM timings
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*tC = (1.0f - t4 - t5) * 0.5f;
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*tB = *tC + t5;
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*tA = *tB + t4;
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}
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break;
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// sextant v5-v6
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case 5: {
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// Vector on-times
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float t5 = -alpha - ONE_BY_SQRT3 * beta;
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float t6 = alpha - ONE_BY_SQRT3 * beta;
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// PWM timings
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*tC = (1.0f - t5 - t6) * 0.5f;
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*tA = *tC + t5;
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*tB = *tA + t6;
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}
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break;
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// sextant v6-v1
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case 6: {
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// Vector on-times
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float t6 = -TWO_BY_SQRT3 * beta;
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float t1 = alpha + ONE_BY_SQRT3 * beta;
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// PWM timings
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*tA = (1.0f - t6 - t1) * 0.5f;
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*tC = *tA + t1;
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*tB = *tC + t6;
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}
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break;
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}
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// if any of the results becomes NaN, result_valid will evaluate to false
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int result_valid =
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*tA >= 0.0f && *tA <= 1.0f
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&& *tB >= 0.0f && *tB <= 1.0f
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&& *tC >= 0.0f && *tC <= 1.0f;
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return result_valid ? 0 : -1;
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}
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