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add voltage magnitude clamping for gimbal motors in closed loop

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This commit is contained in:
Oskar Weigl
2019-01-15 19:44:07 -08:00
parent bb679273bb
commit 31562aca12
3 changed files with 7 additions and 2 deletions
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Firmware/MotorControl/controller.cpp
+6 -1
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@@ -183,8 +183,13 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
Iq += vel_integrator_current_;
// Current limiting
float Ilim = std::min(axis_->motor_.config_.current_lim, axis_->motor_.current_control_.max_allowed_current);
bool limited = false;
float Ilim = 0.0f;
if (axis_->motor_.config_.motor_type == Motor::MOTOR_TYPE_GIMBAL) {
Ilim = std::min(axis_->motor_.config_.current_lim, 0.98f*one_by_sqrt3*vbus_voltage);
} else {
Ilim = std::min(axis_->motor_.config_.current_lim, axis_->motor_.current_control_.max_allowed_current);
}
if (Iq > Ilim) {
limited = true;
Iq = Ilim;