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doc - added controller details

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camrbuss
2020-03-01 13:11:48 -07:00
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@@ -30,6 +30,14 @@ voltage_cmd = current_error * current_gain + voltage_integral (+ voltage_feedfor
```
For more detail refer to [controller.cpp](https://github.com/madcowswe/ODrive/blob/master/Firmware/MotorControl/controller.cpp#L86).
### Controller Details:
The ultimate output of the controller is the voltage applied to the gate of each FET to deliver current through each coil of the motor. The current through the motor linearly relates to the torque output of the motor. This means that the inputs to the cascaded controller are theoretically the position (angle), velocity (angle/time), and acceleration (angle/time/time) of the motor. Note that when thinking about the controller from the perpective of the physics of the motor you would expect to see the time in the Velocity and Current loops, but it is absent because the time difference between iterations is always 125 microseconds (8kHz). Because the time difference between controller loops is a constant and can simply be wrapped into the controller gains.
The output of each stage of the controller is clamped before being fed into the next stage. So after the `vel_cmd` is calculated from the position controller, the `vel_cmd` is clamped to the velocity limit. The `current_cmd` output of the velocity controller is then clamped and fed to the current controller. Oddly enough the controller class does not contain the current controller, but instead the current controller is housed in the motor class due to the complexity of the motor driver schema.
The feedforward terms available when using the position or velocity control mode are meant to enable better performance when the dynamics of a system are known and the host controller can predict the motion based on the load. A perfect example of this is the use of the trajectory controller that sets the position, velocity, and current based on the desired position, velocity, and acceleration. If you take a trapezoidal velocity profile for example, you can imagine on the ramp upward the velocity will be increasing over time, while the current is a non-zero constant. At the flat portion of the profile the velocity will be a non-zero constant, but the acceleration will be zero. This trajectory controller use case uses the cascaded controller with multiple inputs to achieve the desired motion with the best performance.
## Tuning
Tuning the motor controller is an essential step to unlock the full potential of the ODrive. Tuning allows for the controller to quickly respond to disturbances or changes in the system (such as an external force being applied or a change in the setpoint) without becoming unstable. Correctly setting the three tuning parameters (called gains) ensures that ODrive can control your motors in the most effective way possible. The three values are:
* `<axis>.controller.config.pos_gain = 20.0` [(counts/s) / counts]