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fix ERROR_CONTROL_DEADLINE_MISSED

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call effective_current_limit() only once instead of several times per
control iteration
This commit is contained in:
Samuel Sadok
2020-07-21 13:02:03 +02:00
parent da76869c41
commit 171dab31bd
2 changed files with 5 additions and 4 deletions
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Firmware/MotorControl/axis.cpp
+1
View File
@@ -180,6 +180,7 @@ bool Axis::do_checks() {
error_ |= ERROR_DC_BUS_OVER_VOLTAGE;
// Sub-components should use set_error which will propegate to this error_
motor_.effective_current_lim();
for (ThermistorCurrentLimiter* thermistor : thermistors_) {
thermistor->do_checks();
}
Firmware/MotorControl/motor.cpp
+4 -4
View File
@@ -137,12 +137,12 @@ float Motor::effective_current_lim() {
//Note - for ACIM motors, available torque is allowed to be 0.
float Motor::max_available_torque() {
if (config_.motor_type == Motor::MOTOR_TYPE_ACIM) {
float max_torque = effective_current_lim() * config_.torque_constant * current_control_.acim_rotor_flux;
float max_torque = effective_current_lim_ * config_.torque_constant * current_control_.acim_rotor_flux;
max_torque = std::clamp(max_torque, 0.0f, config_.torque_lim);
return max_torque;
}
else {
float max_torque = effective_current_lim() * config_.torque_constant;
float max_torque = effective_current_lim_ * config_.torque_constant;
max_torque = std::clamp(max_torque, 0.0f, config_.torque_lim);
return max_torque;
}
@@ -315,7 +315,7 @@ bool Motor::FOC_current(float Id_des, float Iq_des, float I_phase, float pwm_pha
ictrl.Id_measured += ictrl.I_measured_report_filter_k * (Id - ictrl.Id_measured);
// Check for violation of current limit
float I_trip = effective_current_lim() + config_.current_lim_margin;
float I_trip = effective_current_lim_ + config_.current_lim_margin;
if (SQ(Id) + SQ(Iq) > SQ(I_trip)) {
set_error(ERROR_CURRENT_LIMIT_VIOLATION);
return false;
@@ -410,7 +410,7 @@ bool Motor::update(float torque_setpoint, float phase, float phase_vel) {
current_setpoint *= config_.direction;
// TODO: 2-norm vs independent clamping (current could be sqrt(2) bigger)
float ilim = effective_current_lim();
float ilim = effective_current_lim_;
float id = std::clamp(current_control_.Id_setpoint, -ilim, ilim);
float iq = std::clamp(current_setpoint, -ilim, ilim);